Patent Description:
An agricultural harvester is a machine used to harvest and process crops. For instance, a combine harvester may be used to harvest grain crops, such as wheat, oats, rye, barley, corn, soybeans, and flax or linseed. In general, the objective is to complete several processes, which traditionally were distinct, in one pass of the machine over a particular part of the field. In this respect, harvesters are typically equipped with a detachable harvesting implement, such as a header, which cuts and collects the crop from the field. The harvester also includes a crop processing system, which performs various processing operations (e.g., threshing, separating, etc.) on the harvested crop received from the harvesting implement. Furthermore, the harvester includes a crop tank, which receives and stores the harvested crop after processing.

In certain instances, the stored harvested crop is unloaded from the harvester into a nearby crop receiving vehicle. Thus, the harvester generally includes a crop unloading tube through which the processed crops are conveyed from the crop tank to the crop receiving vehicle. When the crop receiving vehicle is positioned within a crop unloading zone adjacent to the harvester, the crop unloading tube may be moved to a crop unloading position to allow the harvested crop to be deposited into a crop receiving chamber of the crop receiving vehicle. In this respect, systems have been developed for controlling the position of the crop unloading tube. While these systems work well, further improvements are needed.

Patent publication document <CIT> discloses a sensor arrangement for monitoring an unloading process of an agricultural harvester. The arrangement comprises two different types of camera : a CCD or CMOS camera for determining an angular position of a filling wagon, and a time-of-flight sensor for determining a distance between the filling wagon and the harvester.

Accordingly, an improved system and method for controlling crop unloading tube position of an agricultural harvester would be welcomed in the technology.

Aspects and advantages of the technology will be set forth in part in the following description.

In one aspect, the present invention is directed to an agricultural harvester in accordance with the appended claims. The agricultural harvester includes a frame and a crop unloading tube coupled to the frame, with the crop unloading tube configured to discharge harvested crop from the agricultural harvester into a crop-receiving vehicle. Furthermore, the agricultural harvester includes one or more actuators configured to move the crop unloading tube relative to the frame. Additionally, the agricultural harvester includes a sensor configured to capture data indicative of a presence of the crop receiving vehicle within a crop unloading zone of the agricultural harvester. Moreover, the agricultural harvester includes a computing system communicatively coupled to the sensor. As such, the computing system is configured to determine when the crop receiving vehicle is present within the crop unloading zone based on the data captured by the sensor. In addition, when it is determined that the crop receiving vehicle is present within the crop unloading zone, the computing system is configured to control an operation of the one or more actuators such that the crop unloading tube is moved relative to the frame from a current position to a predetermined crop unloading position. The predetermined crop unloading position is selected by the computing system from a plurality of crop unloading positions based on an input indicative of a characteristic of the crop receiving vehicle.

In another aspect, the present invention is directed to a system for controlling a crop unloading tube position of an agricultural harvester in accordance with the appended claims. The system includes a frame and a crop unloading tube coupled to the frame, with the crop unloading tube configured to discharge harvested crop from the agricultural harvester into a crop-receiving vehicle. Furthermore, the system includes one or more actuators configured to move the crop unloading tube relative to the frame. Additionally, the system includes a sensor configured to capture data indicative of a presence of the crop receiving vehicle within a crop unloading zone of the agricultural harvester. Moreover, the system includes a computing system communicatively coupled to the sensor. As such, the computing system is configured to determine when the crop receiving vehicle is present within the crop unloading zone based on the data captured by the sensor. In addition, when it is determined that the crop receiving vehicle is present within the crop unloading zone, the computing system is configured to control an operation of the one or more actuators such that the crop unloading tube is moved relative to the frame from a current position to a predetermined crop unloading position. The predetermined crop unloading position is selected by the computing system from a plurality of crop unloading positions based on an input indicative of a characteristic of the crop receiving vehicle.

In a further aspect, the present invention is directed to a method for controlling a crop unloading tube position of an agricultural harvester in accordance with the appended claims. The agricultural harvester, in turn, includes a frame, a crop unloading tube, and one or more actuators configured to move the crop unloading tube relative to the frame. The method includes receiving, with a computing system, sensor data indicative of a presence of a crop receiving vehicle within a crop unloading zone of the agricultural harvester. Furthermore, the method includes determining, with the computing system, when the crop receiving vehicle is present within the crop unloading zone based on the received sensor data. Additionally, when the crop receiving vehicle is present within the crop unloading zone, the method includes controlling, with the computing system, an operation of the one or more actuators such that the crop unloading tube is moved relative to the frame from a current position to a predetermined crop unloading position. The predetermined crop unloading position is selected by the computing system from a plurality of crop unloading positions based on an input indicative of a characteristic of the crop receiving vehicle.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the invention.

In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope of the appended claims.

In general, the present subject matter is directed to systems and methods for controlling crop unloading tube position of an agricultural harvester. As will be described below, the agricultural harvester includes a frame and a crop unloading tube coupled to the frame. The crop unloading tube, in turn, is configured to discharge harvested crop from the harvester into a crop-receiving vehicle (e.g., a crop cart being towed by an agricultural vehicle, such as a tractor). Furthermore, the harvester includes one or more actuators configured to move the crop unloading tube relative to the frame. For example, the actuator(s) may be configured to rotate/swing, raise/lower, and/or extend/retract the crop unloading tube relative to the frame.

In several embodiments, a computing system of the disclosed system is configured to control the position of the crop unloading tube based on data received from a sensor installed on the harvester. The sensor, in turn, is configured to capture data indicative of the presence of the crop receiving vehicle within a crop unloading zone of the harvester. For example, the sensor may correspond to a transceiver-based sensor, such as a RADAR or LIDAR sensor. As such, the computing system may analyze the received sensor data to determine when the crop receiving vehicle is present within the crop unloading zone. In such instances, the computing system may control the operation actuator(s) such that the crop unloading tube is moved relative to the frame from its current position to a predetermined crop unloading position. The predetermined crop unloading position is selected from a plurality of predetermined crop unloading positions based on one or more characteristics (e.g., type, make, model, etc.) of the crop receiving vehicle. Once the crop unloading tube is at the predetermined crop unloading position, harvested crop can be deposited into a crop receiving chamber of the crop receiving vehicle.

Moving the crop unloading tube to the predetermined crop unloading position when the received sensor data indicates that the crop receiving vehicle is present within the crop unloading zone improves the operation of the harvester. More specifically, many conventional systems rely on the operator to visually identify when the crop receiving vehicle is present within the crop unloading zone and provide an input (e.g., press a button) to move the crop unloading tube. However, it can be difficult to the operator to see when crop receiving vehicle is present within the crop unloading zone. Moreover, such responsibility can be distracting and/or taxing on the operator's focus. Alternatively, some conventional systems rely on the use of complex image processing techniques to identify the location of the crop receiving chamber of the crop receiving vehicle and guide the discharge opening of the crop unloading tube to this location. Such systems, however, require significant computing resources. Conversely, as described above, the disclosed system determines when the crop receiving vehicle is present within the crop unloading zone and automatically moves the discharge opening of the crop unloading tube to a predetermined crop unloading position defined relative to the frame of the harvester. Thus, the fewer computing resources are needed, and the operator can focus on operating other aspects of the harvester.

Referring now to the drawings, <FIG> illustrates a partial sectional side view of an agricultural harvester <NUM> in accordance with aspects of the present subject matter. In general, the harvester <NUM> is configured to travel across a field in a direction of travel (indicated by arrow <NUM>) to harvest a standing crop <NUM>. While traversing the field, the harvester <NUM> may be configured to process the harvested crop <NUM> (<FIG>) and store the harvested crop <NUM> within a crop tank <NUM> of the harvester <NUM>. Furthermore, the harvested crop <NUM> may be unloaded from the crop tank <NUM> for receipt by the crop receiving vehicle <NUM> (<FIG>) via a crop unloading tube <NUM> of the harvester <NUM>.

As shown, the harvester <NUM> is configured as an axial-flow type combine in which the harvested crop <NUM> is threshed and separated while being advanced by and along a longitudinally arranged rotor <NUM>. However, in alternative embodiments, the harvester <NUM> may have any other suitable harvester configuration.

The harvester <NUM> includes a chassis or frame <NUM> configured to support and/or couple to various components of the harvester <NUM>. For example, in several embodiments, the harvester <NUM> may include a pair of driven, ground-engaging front wheels <NUM> and a pair of steerable rear wheels <NUM> coupled to the frame <NUM>. As such, the wheels <NUM>, <NUM> support the harvester <NUM> relative to the ground and move the harvester <NUM> in the direction of travel <NUM>. Furthermore, the harvester <NUM> may include an operator's platform <NUM> having an operator's cab <NUM>, a crop processing system <NUM>, the crop tank <NUM>, and the crop unloading tube <NUM> that are supported by the frame <NUM>. As will be described below, the crop processing system <NUM> may be configured to perform various processing operations on the harvested crop <NUM> as the crop processing system <NUM> operates to transfer the harvested crop <NUM> between a harvesting implement <NUM> (e.g., header) of the harvester <NUM> and the crop tank <NUM>.

Moreover, as shown in <FIG>, the harvesting implement <NUM> and an associated feeder <NUM> of the crop processing system <NUM> extend forward of the frame <NUM> and are pivotably secured thereto for movement in a vertical direction (indicated by arrow <NUM>). In general, the feeder <NUM> supports the harvesting implement <NUM>. As shown in <FIG>, the feeder <NUM> may extend between a front end <NUM> coupled to the harvesting implement <NUM> and a rear end <NUM> positioned adjacent to a threshing and separating assembly <NUM> of the crop processing system <NUM>. Specifically, the rear end <NUM> of the feeder <NUM> may be pivotably coupled to a portion of the harvester <NUM> to allow the front end <NUM> of the feeder <NUM>. Thus, the harvesting implement <NUM> can be moved upward and downward relative to the ground along the vertical direction <NUM> to set the desired harvesting or cutting height for the harvesting implement <NUM>.

As the harvester <NUM> is propelled forwardly over the field with the standing crop <NUM>, the crop material is severed from the stubble by a sickle bar <NUM> at the front of the harvesting implement <NUM> and delivered by a harvesting implement auger <NUM> to the front end <NUM> of the feeder <NUM>. The feeder <NUM>, in turn, supplies the harvested crop <NUM> to the threshing and separating assembly <NUM>. In several embodiments, the threshing and separating assembly <NUM> may include a cylindrical chamber <NUM> in which the rotor <NUM> is rotated to thresh and separate the harvested crop <NUM> received therein. That is, the harvested crop <NUM> is rubbed and beaten between the rotor <NUM> and the inner surfaces of the chamber <NUM>, whereby the grain, seed, or the like, is loosened and separated from the straw.

The harvested crop <NUM> that has been separated by the threshing and separating assembly <NUM> may fall onto a crop cleaning assembly <NUM> of the crop processing system <NUM>. In general, the crop cleaning assembly <NUM> may include a series of pans <NUM> and associated sieves <NUM>. As such, the separated harvested crop <NUM> may be spread out via oscillation of the pans <NUM> and/or sieves <NUM> and may eventually fall through apertures defined in the sieves <NUM>. Additionally, a cleaning fan <NUM> may be positioned adjacent to one or more of the sieves <NUM> to provide an air flow through the sieves <NUM> that remove chaff and other impurities from the harvested crop <NUM>. For instance, the fan <NUM> may blow the impurities off the harvested crop <NUM> for discharge from the harvester <NUM> through the outlet of a straw hood <NUM> positioned at the back end of the harvester <NUM>. The cleaned harvested crop <NUM> passing through the sieves <NUM> may then fall into a trough of an auger <NUM>, which may transfer the harvested crop <NUM> to an elevator <NUM> for delivery to the crop tank <NUM>.

Referring now to <FIG>, a top view is shown of the harvester <NUM> unloading harvested crop <NUM> into the associated crop receiving vehicle <NUM> in accordance with aspects of the present disclosure. As shown, in one embodiment, the crop receiving vehicle <NUM> may be configured as an agricultural tractor. In such an embodiment, the crop receiving vehicle <NUM> may include a crop cart <NUM> defining a crop receiving chamber <NUM> configured to receive the harvested crop <NUM> discharged from the crop unloading tube <NUM> of the harvester <NUM>. However, in other embodiments, the crop receiving vehicle <NUM> may be configured as any other suitable vehicle capable of receiving harvested crop discharged by the crop unloading tube <NUM>.

In general, the crop unloading tube <NUM> is configured to move relative to the frame <NUM> of the harvester <NUM> to allow the harvested crop <NUM> to be discharged into the crop receiving chamber <NUM>. Specifically, in several embodiments, the crop unloading tube <NUM> extends between a proximal end <NUM> pivotably coupled to the frame <NUM> of the harvester <NUM> and a distal end <NUM> from which the harvested crop <NUM> is discharged. For example, in one embodiment, the crop unloading tube <NUM> may include a first tube section <NUM> positioned at its proximal end <NUM> and pivotably coupled to the frame <NUM>. Moreover, in such an embodiment, the crop unloading tube <NUM> may include a second tube section <NUM> slidably coupled to first tube section <NUM>. Additionally, the crop unloading tube <NUM> may include a spout <NUM> defining a discharge opening <NUM> through which the harvested crop <NUM> is discharged from the crop unloading tube <NUM>. In this respect, the crop unloading tube <NUM> may be configured to rotate or swing relative to a pivot point or vertically extending axis <NUM> on the frame <NUM> (e.g., as indicated by arrow <NUM>). Thus, the discharge opening <NUM> can be moved forward and aft relative to the frame <NUM> along the direction of travel <NUM>. Moreover, the crop unloading tube <NUM> may be configured to move along the vertical direction <NUM> (<FIG>) to raise and/or lower the discharge opening <NUM> relative to the frame <NUM> and/or the ground. In addition, the second tube section <NUM> may be extended and/or retracted relative to the first tube section <NUM> (e.g., as indicated by arrow <NUM>). As such, the distance between the discharge opening <NUM> and the frame <NUM> may be adjusted. However, in alternative embodiments, any other suitable degree of freedom of the crop unloading tube <NUM> may be adjusted. For example, in one embodiment, the spout <NUM> may be configured to rotate relative to the second tube section <NUM>.

In several embodiments, the crop unloading tube <NUM> is moveable between a crop storage position (<FIG>) and a crop unloading position (<FIG>). More specifically, as shown in <FIG>, when at the crop storage position, the crop unloading tube <NUM> may be positioned relative to the harvester frame <NUM> such that its distal end <NUM> is generally positioned aft of the frame <NUM>. Moving the crop unloading tube <NUM> to the crop storage position makes the harvester <NUM> narrower in a lateral direction (indicated by arrow <NUM> and extending perpendicular to the direction of travel <NUM>), thereby making it easier to navigate around obstacles (e.g., trees, building, power lines, etc.). Conversely, when at the crop unloading position, the distal end <NUM> of the crop unloading tube <NUM> is positioned outward from the frame <NUM> in the lateral direction <NUM> such that the discharge opening <NUM> is positioned at a suitable location to deposit crops into the crop receiving chamber <NUM> of the crop cart <NUM> (or other crop receiving vehicle/implement). In some embodiments, there may be a plurality of predetermined crop unloading positions, with each position corresponding to a particular type, make, model, etc. of crop receiving vehicle.

As will be described below, when the crop receiving vehicle <NUM> is present in a crop unloading zone (e.g., as indicated by dashed lines <NUM>), the crop unloading tube <NUM> is automatically moved from its current position (e.g., the crop storage position shown in <FIG>) to a predetermined crop unloading position (e.g., the crop unloading position shown in <FIG>). The crop unloading zone <NUM>, in turn, corresponds to a portion of the field adjacent to the harvester <NUM> in which the crop receiving vehicle <NUM> (or, more specifically, the crop cart <NUM>) can be positioned close enough the harvester <NUM> to allow the crop unloading tube <NUM> to discharge crops into the crop receiving chamber <NUM>. In this respect, when the crop receiving vehicle <NUM> is present in a crop unloading zone <NUM>, the crop unloading tube <NUM> may be rotated or swung about the axis <NUM>, raised/lowered, and/or extended/retracted to move the tube <NUM> to the predetermined crop unloading position.

It should be further appreciated that the configuration of the agricultural harvester <NUM> described above and shown in <FIG> and <FIG> is provided only to place the present subject matter in an exemplary field of use. Thus, it should be appreciated that the present subject matter may be readily adaptable to any manner of harvester configuration.

Referring now to <FIG>, a schematic view of one embodiment of a system <NUM> for controlling a crop unloading tube position of an agricultural harvester is illustrated in accordance with aspects of the present subject matter. In general, the system <NUM> will be described herein with reference to the agricultural harvester <NUM> described above with reference to <FIG> and <FIG>. However, it should be appreciated by those of ordinary skill in the art that the disclosed system <NUM> may generally be utilized with agricultural harvesters having any other suitable harvester configuration.

As shown in <FIG>, the system <NUM> includes a crop receiving vehicle presence sensor <NUM>. In general, the crop receiving vehicle presence sensor <NUM> is configured to capture data indicative of the presence of the crop receiving vehicle <NUM> (or a portion thereof, such as the crop cart <NUM>) within the crop unloading zone <NUM> of the agricultural harvester <NUM>. As will be described below, the data captured by the crop receiving vehicle presence sensor <NUM> may be analyzed to determine when the crop receiving vehicle <NUM> is present within the crop unloading zone <NUM> of the harvester <NUM>. Thereafter, when the crop receiving vehicle <NUM> is present within the crop unloading zone <NUM>, the crop unloading tube <NUM> may be automatically moved from its current position to a predetermined crop unloading position.

In several embodiments, the crop receiving vehicle presence sensor <NUM> may correspond to a transceiver-based sensor. In such embodiments, the crop receiving vehicle presence sensor <NUM> may generally correspond to any suitable sensing device configured to emit output signals for reflection off a surface (e.g., the crop receiving vehicle <NUM>) and receive or sense the return signals. For example, in one such embodiment, the crop receiving vehicle presence sensor <NUM> may correspond to a radio detection and ranging (RADAR) sensor or a light detection and ranging (LIDAR) sensor. However, in alternative embodiments, the crop receiving vehicle presence sensor <NUM> may correspond to any other suitable sensor or sensing device, such as an ultrasonic sensor.

Furthermore, the system <NUM> may include a swing sensor <NUM>. In general, the swing sensor <NUM> may be configured to capture data indicative of the rotational position of the proximal end <NUM> of the crop unloading tube <NUM> about the vertical axis or pivot point <NUM> (e.g., the swing or rotation of the crop unloading tube <NUM>). As will be described below, the data captured by the swing sensor <NUM> may be used when moving the crop unloading tube <NUM> between the crop storage position and the predetermined crop unloading position(s). For example, in one embodiment, the swing sensor <NUM> may correspond to a rotary potentiometer coupled between the crop unloading tube <NUM> and the frame <NUM>. However, in alternative embodiments, the swing sensor <NUM> may correspond to any other suitable sensing device configured to capture data indicative of the rotational position of the crop unloading tube <NUM>.

Additionally, the system <NUM> may include a lift sensor <NUM>. In general, the lift sensor <NUM> may be configured to capture data indicative of the position of the distal end <NUM> of the crop unloading tube <NUM> along the vertical direction <NUM>. As will be described below, the data captured by the lift sensor <NUM> may be used when moving the crop unloading tube <NUM> between the crop storage position and the predetermined crop unloading position(s). For example, in one embodiment, the lift sensor <NUM> may correspond to a rotary potentiometer coupled between the crop unloading tube <NUM> and the frame <NUM>. However, in alternative embodiments, the lift sensor <NUM> may correspond to any other suitable sensing device configured to capture data indicative of the vertical position of the crop unloading tube <NUM>.

Moreover, the system <NUM> may include a telescoping sensor <NUM>. In general, the telescoping sensor <NUM> may be configured to capture data indicative of the distance between the discharge opening <NUM> of the crop unloading tube <NUM> and the frame <NUM> (e.g., the extension/retraction of the tube <NUM>). As will be described below, the data captured by the telescoping sensor <NUM> may be used when moving the crop unloading tube <NUM> between the crop storage position and the predetermined crop unloading position(s). For example, in one embodiment, the telescoping sensor <NUM> may correspond to a linear potentiometer coupled between the first and second tube sections <NUM>, <NUM>. However, in alternative embodiments, the telescoping sensor <NUM> may correspond to any other suitable sensing device configured to capture data indicative of the extension/retraction of the tube <NUM>.

In addition, the system <NUM> may include one or more actuators configured to adjust one or more degrees of freedom of the crop unloading tube <NUM>. In general, by adjusting the degree(s) of freedom of the crop unloading tube <NUM>, the actuator(s) may move the tube <NUM> between the crop storage position and the predetermined crop unloading position(s). Specifically, in several embodiments, the system <NUM> may include one or more swing actuators <NUM>. The actuator(s) <NUM> is, in turn, configured to rotate or swing the crop unloading tube <NUM> about the vertical axis or pivot point <NUM> to move the discharge opening <NUM> forward and/or aft relative to the frame <NUM>. Furthermore, in such embodiments, the system <NUM> may include one or more lift actuators <NUM>. The actuator(s) <NUM> is, in turn, configured to raise and/or lower the crop unloading tube <NUM> relative to the frame <NUM> along the vertical direction <NUM>. Additionally, in such embodiments, the system <NUM> may include one or more telescoping actuators <NUM>. The actuator(s) <NUM> is, in turn, configured to extend and/or retract the second tube section <NUM> relative to the first tube section <NUM>, thereby increasing or decreasing the distance between the discharge opening <NUM> of the crop unloading tube <NUM> and the frame <NUM>. However, in alternative embodiments, the system <NUM> may include other actuators in addition to and/or in lieu of the actuators <NUM>, <NUM>, <NUM>.

The actuators <NUM>, <NUM>, <NUM> may correspond to any suitable actuators configured to adjust the associated degrees of freedom of the crop unloading tube <NUM>. For example, in some embodiments, the actuators <NUM>, <NUM>, <NUM> may correspond to hydraulic cylinders. However, in alternative embodiments, the actuators <NUM>, <NUM>, <NUM> may correspond to any suitable actuators, such as pneumatic actuators, electric linear actuators, electric motors, and/or the like.

Moreover, the system <NUM> includes a computing system <NUM> communicatively coupled to one or more components of the harvester <NUM> and/or the system <NUM> to allow the operation of such components to be electronically or automatically controlled by the computing system <NUM>. For instance, the computing system <NUM> may be communicatively coupled to the sensors <NUM>, <NUM>, <NUM>, <NUM> via a communicative link <NUM>. As such, the computing system <NUM> may be configured to receive data from the sensors <NUM>, <NUM>, <NUM>, <NUM> that is indicative of various operating parameters of the harvester <NUM>. Furthermore, the computing system <NUM> may be communicatively coupled to the actuators <NUM>, <NUM>, <NUM> via the communicative link <NUM>. In this respect, the computing system <NUM> may be configured to control the operation of the actuators <NUM>, <NUM>, <NUM> to move the crop unloading tube <NUM> between the crop storage position and the predetermined crop unloading position(s). In addition, the computing system <NUM> may be communicatively coupled to any other suitable components of the harvester <NUM> and/or the system <NUM>.

In general, the computing system <NUM> may comprise one or more processor-based devices, such as a given controller or computing device or any suitable combination of controllers or computing devices. Thus, in several embodiments, the computing system <NUM> may include one or more processor(s) <NUM> and associated memory device(s) <NUM> configured to perform a variety of computer-implemented functions. As used herein, the term "processor" refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) <NUM> of the computing system <NUM> may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD) and/or other suitable memory elements. Such memory device(s) <NUM> may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) <NUM>, configure the computing system <NUM> to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the computing system <NUM> may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like.

The various functions of the computing system <NUM> may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the computing system <NUM>. For instance, the functions of the computing system <NUM> may be distributed across multiple application-specific controllers or computing devices, such as a navigation controller, an engine controller, a transmission controller, and/or the like.

In addition, the system <NUM> may also include a user interface <NUM>. More specifically, the user interface <NUM> may be configured to receive inputs (e.g., inputs associated with characteristics of the crop receiving vehicle <NUM>) from the operator. As such, the user interface <NUM> may include one or more input devices, such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or the like, which are configured to receive user inputs from the operator. The user interface <NUM> may, in turn, be communicatively coupled to the computing system <NUM> via the communicative link <NUM> to permit the received inputs to be transmitted from the user interface <NUM> to the computing system <NUM>. In addition, some embodiments of the user interface <NUM> may include one or more feedback devices (not shown), such as display screens, speakers, warning lights, and/or the like, which are configured to provide feedback from the computing system <NUM> to the operator. In one embodiment, the user interface <NUM> may be mounted or otherwise positioned within the operator's cab <NUM> of the harvester <NUM>. However, in alternative embodiments, the user interface <NUM> may be mounted at any other suitable location.

Referring now to <FIG>, a flow diagram of one embodiment of example control logic <NUM> that may be executed by the computing system <NUM> (or any other suitable computing system) for controlling a crop unloading tube position of an agricultural harvester is illustrated in accordance with aspects of the present subject matter. Specifically, the control logic <NUM> shown in <FIG> is representative of steps of one embodiment of an algorithm that can be executed to control the position of the crop unloading tube of an agricultural harvester in a manner that does not require the operator to visually identify the position of the crop receiving vehicle <NUM> or the use of complex image processing techniques. Thus, in several embodiments, the control logic <NUM> may be advantageously utilized in association with a system installed on or forming part of an agricultural harvester to allow for real-time crop unloading tube position control without requiring substantial computing resources and/or processing time. However, in other embodiments, the control logic <NUM> may be used in association with any other suitable system, application, and/or the like for controlling a crop unloading tube position of an agricultural harvester.

As shown in <FIG>, at (<NUM>), the control logic <NUM> includes receiving an input indicative of one or more characteristics of the crop receiving vehicle. Specifically, as mentioned above, in several embodiments, the computing system <NUM> may be communicatively coupled to the user interface <NUM> via the communicative link <NUM>. In this respect, the operator may provide one or more inputs to the user interface <NUM>, with such input(s) being indicative of one or more characteristics of the crop receiving vehicle <NUM>. Thereafter, the operator input(s) may be transmitted from the user interface <NUM> to the computing system <NUM> via the communicative link <NUM>. Alternatively, the computing system <NUM> may receive the input(s) from any other suitable device(s), such as a remote computing device(s) (e.g., a Smartphone, a remote database server, etc.) or a sensor(s).

Furthermore, at (<NUM>), the control logic <NUM> includes selecting a predetermined crop unloading position from a plurality of predetermined crop unloading positions based on the characteristic(s) of the crop receiving vehicle. More specifically, the discharge opening <NUM> of the crop unloading tube <NUM> may need to be positioned at different locations to discharge harvested crop into the different crop receiving vehicles. For example, the different crop receiving vehicles may have different heights, have different crop receiving chamber sizes, and/or the crop receiving chambers may be located at different locations on the vehicle. Thus, in some embodiments, the computing system <NUM> may have a plurality of predetermined crop unloading positions stored within its memory device(s) <NUM>. Each stored predetermined crop unloading position may, in turn, correspond to one or more crop receiving vehicles (e.g., based on type, make, model, etc.). In this respect, upon receipt of the input(s) associated with the crop receiving vehicle characteristic(s) at (<NUM>), the computing system <NUM> may select a predetermined crop unloading position from the plurality of stored predetermined crop unloading positions that corresponds to the characteristic(s). For example, the computing system <NUM> may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory device(s) <NUM> that correlates the characteristic(s) to the stored predetermined crop unloading positions. As will be described below, when the crop receiving vehicle <NUM> is present within the crop unloading zone <NUM> of the harvester <NUM>, the crop unloading tube <NUM> may automatically be moved to the predetermined crop unloading position selected at (<NUM>).

Each predetermined crop unloading position corresponds to a position defined relative to the frame <NUM> of the harvester <NUM>. As such, each predetermined crop unloading position may have an associated swing angle, vertical height, and/or distance between the frame <NUM> and the discharge opening <NUM>. In this respect, and as will be described below, the discharge opening <NUM> of the crop unloading tube <NUM> may be guided to the selected predetermined crop unloading position based on feedback from sensors (e.g., the sensors <NUM>, <NUM>, <NUM>) associated with various degrees of freedom of the tube <NUM>.

The plurality of stored predetermined crop unloading positions may be provided to the computing system <NUM> in any suitable manner. For example, in some embodiments, the operator may teach the computing system <NUM> one or more of the predetermined crop unloading positions by manually moving the crop unloading tube <NUM> to a position. Thereafter, the operator can provide an input to the user interface <NUM> instructing the computing system <NUM> to save that position as one of the predetermined crop unloading positions. The operator also can provide crop receiving vehicle characteristics associated with each taught position. Alternatively, or additionally, the one or more predetermined crop unloading positions may be preset or preprogrammed at the factory.

Additionally, the characteristic(s) received by the computing system <NUM> at (<NUM>) and used at (<NUM>) may correspond to any suitable characteristic(s) or parameter(s) that can be used to select a predetermined crop unloading position from the stored predetermined crop unloading positions. For example, suitable characteristics may include the type of crop receiving vehicle (e.g., crop cart being towed by an agricultural tractor, dump truck, semi-trailer, etc.), make, model, and/or the like.

Moreover, at (<NUM>), the control logic <NUM> includes receiving sensor data indicative of the presence of the crop receiving vehicle within a crop unloading zone of the agricultural harvester. Specifically, as mentioned above, in several embodiments, the computing system <NUM> may be communicatively coupled to the crop receiving vehicle presence sensor <NUM> via the communicative link <NUM>. In this respect, as the harvester <NUM> travels across the field to perform a harvesting operation thereon, the computing system <NUM> may receive data from the crop receiving vehicle presence sensor <NUM>. Such data may, in turn, be indicative of the presence (or lack thereof) of the crop receiving vehicle <NUM> or the crop cart <NUM> within the crop unloading zone <NUM> of the agricultural harvester <NUM>.

In addition, at (<NUM>), the control logic <NUM> includes determining when the crop receiving vehicle is present within the crop unloading zone based on the received sensor data. Specifically, in several embodiments, the computing system <NUM> may analyze the sensor data received at (<NUM>) to determine when the crop cart <NUM> is present within the crop unloading zone <NUM> of the harvester <NUM>. For example, the computing system <NUM> may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory device(s) <NUM> that correlates the received sensor data to the presence (or lack thereof) of the crop cart <NUM> within the crop unloading zone <NUM>. When the presence of the crop cart <NUM> is not detected within the crop unloading zone <NUM>, the control logic <NUM> returns to (<NUM>). Conversely, when it is determined that the crop cart <NUM> is present within the crop unloading zone <NUM>, the crop cart <NUM> is at a suitable position for harvested crop to be deposited within its crop receiving chamber <NUM>. In such instances, the control logic <NUM> proceeds to (<NUM>).

As shown in <FIG>, at (<NUM>), the control logic <NUM> includes controlling the operation of the one or more actuators such that the crop unloading tube is moved relative to the frame from its current position to the selected predetermined crop unloading position. Specifically, in several embodiments, the computing system <NUM> may control the operation of one or more actuators to adjust one or more degrees of freedom of the crop unloading tube <NUM>, thereby moving the tube <NUM> from its current position to the predetermined crop unloading position selected at (<NUM>) (e.g., the position shown in <FIG>). As mentioned above, the computing system <NUM> may use data received from one or more sensors associated with the degree(s) of freedom to control the operation of the actuator(s). For example, when moving the crop unloading tube <NUM> to the selected predetermined crop unloading position, the computing system <NUM> may be configured to control the operation of the swing actuator(s) <NUM> based on data from the swing sensor <NUM> to rotate or swing the tube <NUM> relative to the frame <NUM> about the vertically extending axis <NUM>. Furthermore, when moving the crop unloading tube <NUM> to the selected predetermined crop unloading position, the computing system <NUM> may additionally or alternatively be configured to control the operation of the lift actuator(s) <NUM> based on data from the lift sensor <NUM> to raise and/or lower the tube <NUM> relative to the frame <NUM> in the vertical direction <NUM>. Moreover, when moving the crop unloading tube <NUM> to the selected predetermined crop unloading position, the computing system <NUM> may additionally or alternatively be configured to control the operation of the telescoping actuator(s) <NUM> based on data from the telescoping sensor <NUM> to adjust the distance between the discharge opening <NUM> of the tube <NUM> and the frame <NUM>. However, in alternative embodiments, the computing system <NUM> may be configured to control any other suitable actuators to move the crop unloading tube <NUM> to the selected predetermined crop unloading position in addition to or lieu of the actuators <NUM>, <NUM>, <NUM>.

After the crop unloading tube <NUM> is moved to the selected predetermined crop unloading position at (<NUM>), the control logic <NUM> includes, at (<NUM>), continuing to receive sensor data indicative of the presence of the crop receiving vehicle within the crop unloading zone of the agricultural harvester. As such, (<NUM>) is the same as or substantially the same as (<NUM>). Thereafter, at (<NUM>), the control logic <NUM> includes determining when the crop receiving vehicle is present within the crop unloading zone based on the received sensor data. Thus, (<NUM>) is the same as or substantially the same as (<NUM>).

When it is determined at (<NUM>) that the crop receiving vehicle is present within the crop unloading zone, the control logic <NUM> includes, at (<NUM>), controlling the operation of the one or more actuators to move a discharge opening defined by the crop unloading tube relative to a crop receiving chamber defined by the crop receiving vehicle such that the harvested crop discharged from the crop unloading tube are spread out within the crop receiving chamber. Specifically, in several embodiments, when harvested crop are being discharged from the crop unloading tube <NUM>, the computing system <NUM> may control the operation of the actuator(s) to move the discharge opening <NUM> of the tube <NUM> relative to the crop receiving chamber <NUM> of the crop cart <NUM>, thereby more evenly spreading out the harvested crop within the chamber <NUM>. For example, in some embodiments, during unloading, the computing system <NUM> may control the operation of the swing actuator(s) <NUM> to move the discharge opening <NUM> forward and aft (e.g., as indicated by arrow <NUM> in <FIG>) to spread out the crops within the crop receiving chamber <NUM>. Additionally, or alternatively, the computing system <NUM> may control the operation of the telescoping actuator(s) <NUM> to move the discharge opening <NUM> toward and away from the frame <NUM> (e.g., as indicated by arrow <NUM> in <FIG>) to spread out the harvested crop within the crop receiving chamber <NUM>. However, in alternative embodiments, the computing system <NUM> may be configured to control any other suitable actuators to spread out the harvested crop within the crop receiving chamber <NUM>. For example, in one embodiment, the spout <NUM> may be rotated relative to the second tube segment <NUM> to further spread out the harvested crop. After a predetermined time has elapsed, the control logic <NUM> returns to (<NUM>) to allow a subsequent determination of whether the crop receiving vehicle is present within the crop unloading zone.

Conversely, when it is determined at (<NUM>) that the crop receiving vehicle is not present within the crop unloading zone, the control logic <NUM> includes, at (<NUM>), controlling the operation of the one or more actuators such that the crop unloading tube is moved relative to the frame from the predetermined crop unloading position to a crop storage position. Specifically, in several embodiments, the computing system <NUM> may control the operation of one or more actuators (e.g., the actuators <NUM>, <NUM>, <NUM>) to adjust one or more degrees of freedom of the crop unloading tube <NUM>, thereby moving the tube <NUM> from the current predetermined crop unloading position to the crop storage position (e.g., the position shown in <FIG>). As mentioned above, the computing system <NUM> may use data received from one or more sensors associated with the degree(s) of freedom (e.g., the sensors <NUM>, <NUM>, <NUM>) to control the operation of the actuator(s). Thereafter, the control logic <NUM> returns to (<NUM>).

Referring now to <FIG>, a flow diagram of one embodiment of a method <NUM> for controlling a crop unloading tube position of an agricultural harvester is illustrated in accordance with aspects of the present subject matter. In general, the method <NUM> will be described herein with reference to the agricultural harvester <NUM> and the system <NUM> described above with reference to <FIG>. However, it should be appreciated by those of ordinary skill in the art that the disclosed method <NUM> may generally be implemented with any agricultural harvester having any suitable harvester configuration and/or any system having any suitable system configuration. In addition, although <FIG> depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.

As shown in <FIG>, at (<NUM>), the method <NUM> may include receiving, with a computing system, sensor data indicative of the presence of a crop receiving vehicle within a crop unloading zone of an agricultural harvester. For instance, as described above, during operation of the harvester <NUM>, the computing system <NUM> may be configured to receive data from the crop receiving vehicle presence sensor <NUM>. The crop receiving vehicle presence sensor <NUM> may, in turn, capture data indicative of the presence of the crop receiving vehicle <NUM> (or a portion thereof, such as the crop cart <NUM>) within the crop unloading zone <NUM> of the agricultural harvester <NUM>.

Additionally, at (<NUM>), the method <NUM> may include determining, with the computing system, when the crop receiving vehicle is present within the crop unloading zone based on the received sensor data. For instance, as described above, the computing system <NUM> may be configured to determine when the crop receiving vehicle <NUM> is present within the crop unloading zone <NUM> based on the data received from the crop receiving vehicle presence sensor <NUM>.

Moreover, at (<NUM>), when the crop receiving vehicle is present within the crop unloading zone, the method <NUM> may include controlling, with the computing system, the operation of one or more actuators of the agricultural harvester such that a crop unloading tube of the harvester is moved relative to a frame of the harvester from a current position to a predetermined crop unloading position. For instance, as described above, when the crop receiving vehicle <NUM> is present within the crop unloading zone <NUM>, the computing system <NUM> may be configured to control the operation of actuators <NUM>, <NUM>, <NUM> such that the crop unloading tube <NUM> is moved relative to the frame <NUM> from its current position to a predetermined crop unloading position.

Claim 1:
A system (<NUM>) for controlling a crop unloading tube position of an agricultural harvester (<NUM>), the system (<NUM>) comprising a frame (<NUM>) and a crop unloading tube (<NUM>) coupled to the frame (<NUM>), the crop unloading tube (<NUM>) configured to discharge harvested crop from the agricultural harvester (<NUM>) into a crop-receiving vehicle (<NUM>, <NUM>), the system (<NUM>) further comprising one or more actuators (<NUM>, <NUM>, <NUM>) configured to move the crop unloading tube (<NUM>) relative to the frame (<NUM>), the system (<NUM>) comprising
a sensor (<NUM>) configured to capture data indicative of a presence of the crop receiving vehicle (<NUM>, <NUM>) within a crop unloading zone (<NUM>) of the agricultural harvester (<NUM>); and
a computing system (<NUM>) communicatively coupled to the sensor (<NUM>), characterized in that the computing system (<NUM>) is configured to:
receive an input indicative of a characteristic of the crop receiving vehicle (<NUM>, <NUM>);
select a predetermined crop unloading position from a plurality of predetermined crop unloading positions based on the characteristic of the crop receiving vehicle (<NUM>, <NUM>),
determine when the crop receiving vehicle (<NUM>, <NUM>) is present within the crop unloading zone (<NUM>) based on the data captured by the sensor (<NUM>); and
when it is determined that the crop receiving vehicle (<NUM>, <NUM>) is present within the crop unloading zone (<NUM>), control an operation of the one or more actuators (<NUM>, <NUM>, <NUM>) such that the crop unloading tube (<NUM>) is moved relative to the frame (<NUM>) from a current position to said predetermined crop unloading position.