	US 12,256,670 B2
	Harvester systems and methods for automated and semi-automated filling of bins of receiving vehicles
Martin Peter Christiansen, Randers (DK); Esma Mujkic, Randers (DK); Ramon Buchaca Tarragona, Randers (DK); Morten Stigaard Laursen, Randers (DK); Kenneth Düring Jensen, Randers (DK); and Morten Leth Bilde, Langaa (DK)
Assigned to AGCO International GMBH, Neuhausen (CH)
Filed by AGCO International GmbH, Neuhausen (CH)
Filed on Aug. 17, 2022, as Appl. No. 17/820,479.
Claims priority of application No. 2114575 (GB), filed on Oct. 12, 2021.
Prior Publication US 2023/0113645 A1, Apr. 13, 2023
Int. Cl. A01D 41/127 (2006.01); A01D 41/12 (2006.01)

CPC A01D 41/1275 (2013.01) [A01D 41/1217 (2013.01); A01D 41/1278 (2013.01)]

4 Claims

1. An apparatus, comprising:

a camera, configured to capture image data of a receiving vehicle and a self-propelling vehicle moving the receiving vehicle that is near a harvester;

a LIDAR system, configured to:

scan in coordinates of parts of the receiving vehicle and the self-propelled vehicle; and

scan in coordinates of a distribution of crop material in the receiving vehicle; and

a computing system, configured to:

convert the scanned in coordinates of the receiving vehicle, the self-propelled vehicle and the distribution of crop material into a point cloud;

detect an image of the receiving vehicle from the image data;

generate a bounding box that surrounds the detected imaged of the receiving vehicle, wherein the bounding box is either a rectangular cuboid or a rectangle;

detect boundaries of the receiving vehicle using edge detection, within the generated bounding box;

estimate fill level based on the detected boundaries and the point cloud;

time-match the captured image data and the point cloud to provide time-matched data;

extract a receiving vehicle portion of the point cloud based on the time-matched data and the detected image of the receiving vehicle;

estimate dimensions and orientation of the receiving vehicle based on the point cloud; and

generate graphical representations of the estimated fill level and the estimated dimensions and orientation of the receiving vehicle to be displayed on a screen simultaneously.