# US 2021/0333802 A1 · System for coordinating control of multiple work vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0333802 A1 - Document ID: US20210333802A1 - Status: Published application - Kind: A1 - Application number: 17/243,147 - Filed: 2021-04-28 - Published: 2021-10-28 - Earliest claimed: 2020-04-28 - Assignees: CNH Industrial America LLC - Applicants: CNH Industrial America LLC - Inventors: Aditya Singh; Yaseen Suleman; Navneet Gulati; Daniel Geiyer; Phillip Duane Dix - Web page: https://patentgrep.com/patent/US20210333802A1 ## CPC - A01D 41/1278: {for automatic steering} - G05D 1/0287: {involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16)} - A01B 69/008: {automatic} - A01D 57/20: with conveyor belts - B60W 10/04: including control of propulsion units - B60W 10/20: including control of steering systems - B60W 10/30: including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps - G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)} - G05D 1/65: Following a desired speed profile - G05D 1/663: {docking at a moving base station} - A01D 41/1217: {Unloading mechanisms} - A01D 75/02: Implements for collecting grain crop - B60W 2300/152: Tractors - B60W 2300/158: Harvesters - B60W 2510/06: Combustion engines, Gas turbines - B60W 2510/18: Braking system - B60W 2510/20: Steering systems - B60W 2554/801: Lateral distance - B60W 2554/802: Longitudinal distance - B60W 2710/20: Steering systems - B60W 2710/30: Auxiliary equipments - B60W 2720/10: Longitudinal speed - B60W 2720/12: Lateral speed - B60W 2754/20: Lateral distance - B60W 2754/30: Longitudinal distance - B60W 2754/50: Relative longitudinal speed - G05D 2105/15: for harvesting, sowing or mowing in agriculture or forestry - G05D 2107/21: {Farming, e.g. fields, pastures or barns} - G05D 2109/10: Land vehicles - A01D: HARVESTING; MOWING - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A control system includes a controller configured to determine a target speed between a first target position of a haul vehicle relative to a harvester and a second target position of the haul vehicle relative to the harvester based on a flow rate of agricultural product through a conveyor of the harvester. The haul vehicle is coupled to a storage compartment, an outlet of the conveyor is aligned with a first unloading point within the storage compartment while the haul vehicle is positioned at the first target position, and the outlet of the conveyor is aligned with a second unloading point within the storage compartment while the haul vehicle is positioned at the second target position. Furthermore, the controller is configured to output a control signal indicative of instructions to direct the haul vehicle from the first target position to the second target position at the target speed. ## Claims ### Claim 1 A control system comprising a controller having a memory and a processor, wherein the controller is configured to: determine a first target speed between a first target position of a haul vehicle relative to a harvester and a second target position of the haul vehicle relative to the harvester based at least in part on a flow rate of agricultural product through a conveyor of the harvester, wherein the haul vehicle is coupled to a storage compartment and configured to move the storage compartment through a field, an outlet of the conveyor is aligned with a first unloading point within the storage compartment while the haul vehicle is positioned at the first target position, and the outlet of the conveyor is aligned with a second unloading point within the storage compartment while the haul vehicle is positioned at the second target position; and output a first control signal indicative of instructions to direct the haul vehicle from the first target position to the second target position at the first target speed. ### Claim 2 (depends on 1) The control system of claim 1, wherein the controller is configured to: determine whether the first target speed is greater than a threshold speed; output a second control signal to a product delivery system indictive of instructions to reduce the flow rate of the agricultural product in response to determining that the first target speed is greater than the threshold speed, wherein the product delivery system is configured to control flow of the agricultural product through the conveyor; and reduce the first target speed to the threshold speed before outputting the first control signal in response to determining that the first target speed is greater than the threshold speed. ### Claim 3 (depends on 1) The control system of claim 1, wherein the control system does not comprise a sensor configured to determine a level of the agricultural product within the storage compartment, and the control system does not comprise a sensor configured to determine a profile of the agricultural product within the storage compartment. ### Claim 4 (depends on 1) The control system of claim 1, wherein the first target position is longitudinally offset from the second target position. ### Claim 5 (depends on 1) The control system of claim 1, wherein the controller is configured to: determine a second target speed between the second target position of the haul vehicle and the first target position of the haul vehicle based at least in part on the flow rate of the agricultural product through the conveyor; and output a third control signal indicative of instructions to direct the haul vehicle from the second target position to the first target position at the second target speed. ### Claim 6 (depends on 1) The control system of claim 1, wherein the controller is configured to: determine a third target speed between the second target position of the haul vehicle and a third target position of the haul vehicle relative to the harvester based at least in part on the flow rate of the agricultural product through the conveyor, wherein the outlet of the conveyor is aligned with a third unloading point within the storage compartment while the haul vehicle is positioned at the third target position; and output a fourth control signal indicative of instructions to direct the haul vehicle from the second target position to the third target position at the third target speed. ### Claim 7 (depends on 6) The control system of claim 6, wherein the third target position is laterally offset from the second target position. ### Claim 8 A control system comprising a controller having a memory and a processor, wherein the controller is configured to: determine a first unloading point within a storage compartment based at least in part on dimensions of the storage compartment; determine a first target position of a haul vehicle relative to a harvester based at least in part on the first unloading point, wherein the haul vehicle is coupled to the storage compartment and configured to move the storage compartment through a field, and an outlet of a conveyer of the harvester is aligned with the first unloading point while the haul vehicle is positioned at the first target position; output a first control signal indicative of instructions to direct the haul vehicle to the first target position; determine a second unloading point within the storage compartment based at least in part on the dimensions of the storage compartment; determine a second target position of the haul vehicle relative to the harvester based at least in part on the second unloading point, wherein the outlet of the conveyor is aligned with the second unloading point while the haul vehicle is positioned at the second target position; determine a first target speed between the first target position and the second target position based at least in part on a flow rate of agricultural product through the conveyor; and output a second control signal indicative of instructions to direct the haul vehicle from the first target position to the second target position at the first target speed. ### Claim 9 (depends on 8) The control system of claim 8, wherein the controller is configured to: determine whether the first target speed is greater than a threshold speed; output a third control signal to a product delivery system indictive of instructions to reduce the flow rate of the agricultural product in response to determining that the first target speed is greater than the threshold speed, wherein the product delivery system is configured to control flow of the agricultural product through the conveyor; and reduce the first target speed to the threshold speed before outputting the second control signal in response to determining that the first target speed is greater than the threshold speed. ### Claim 10 (depends on 8) The control system of claim 8, wherein the control system does not comprise a sensor configured to determine a level of the agricultural product within the storage compartment, and the control system does not comprise a sensor configured to determine a profile of the agricultural product within the storage compartment. ### Claim 11 (depends on 8) The control system of claim 8, wherein the controller is configured to: determine a second target speed between the second target position and the first target position based at least in part on the flow rate of the agricultural product through the conveyor; and output a fourth control signal indicative of instructions to direct the haul vehicle from the second target position to the first target position at the second target speed. ### Claim 12 (depends on 8) The control system of claim 8, wherein the controller is configured to: determine a third unloading point within the storage compartment based at least in part on the dimensions of the storage compartment; determine a third target position of the haul vehicle relative to the harvester based at least in part on the third unloading point, wherein the outlet of the conveyor is aligned with the third unloading point while the haul vehicle is positioned at the third target position; determine a third target speed between the second target position and the third target position based at least in part on the flow rate of the agricultural product through the conveyor; and output a fifth control signal indicative of instructions to direct the haul vehicle from the second target position to the third target position at the third target speed. ### Claim 13 A control system comprising a controller having a memory and a processor, wherein the controller is configured to: determine a first expected duration of traversing a first distance between a first target position of a haul vehicle relative to a harvester and a second target position of the haul vehicle relative to the harvester, wherein the haul vehicle is coupled to a storage compartment and configured to move the storage compartment through a field, an outlet of a conveyor of the harvester is aligned with a first unloading point within the storage compartment while the haul vehicle is positioned at the first target position, and the outlet of the conveyor is aligned with a second unloading point within the storage compartment while the haul vehicle is positioned at the second target position; determine a first target time for reaching the second target position based at least in part on a flow rate of agricultural product through the conveyor; and output a first control signal indicative of instructions to direct the haul vehicle from the first target position to the second target position at a first initiation time, wherein the first initiation time corresponds to the first target time minus the first expected duration. ### Claim 14 (depends on 13) The control system of claim 13, wherein the controller is configured to determine the first expected duration of traversing the first distance based on at least one performance characteristic of the haul vehicle. ### Claim 15 (depends on 14) The control system of claim 14, wherein the at least one performance characteristic of the haul vehicle comprises a maximum engine output of an engine of the haul vehicle, a maximum braking force of a braking system of the haul vehicle, a minimum turning radius of the haul vehicle, or a combination thereof. ### Claim 16 (depends on 13) The control system of claim 13, wherein the controller is configured to output the first control signal to a steering control system of the haul vehicle, to a speed control system of the haul vehicle, or a combination thereof. ### Claim 17 (depends on 13) The control system of claim 13, wherein the controller is configured to: determine a second expected duration of traversing the first distance between the second target position of the haul vehicle relative to the harvester and the first target position of the haul vehicle relative to the harvester; determine a second target time for reaching the first target position based at least in part on the flow rate of the agricultural product through the conveyor; and output a second control signal indicative of instructions to direct the haul vehicle from the second target position to the first target position at a second initiation time, wherein the second initiation time corresponds to the second target time minus the second expected duration. ### Claim 18 (depends on 13) The control system of claim 13, wherein the controller is configured to: determine a third expected duration of traversing a second distance between the second target position of the haul vehicle relative to the harvester and a third target position of the haul vehicle relative to the harvester, wherein the outlet of the conveyor is aligned with a third unloading point within the storage compartment while the haul vehicle is positioned at the third target position; determine a third target time for reaching the third target position based at least in part on the flow rate of the agricultural product through the conveyor; and output a third control signal indicative of instructions to direct the haul vehicle from the second target position to the third target position at a third initiation time, wherein the third initiation time corresponds to the third target time minus the third expected duration. ### Claim 19 (depends on 13) The control system of claim 13, wherein the control system does not comprise a sensor configured to determine a level of the agricultural product within the storage compartment, and the control system does not comprise a sensor configured to determine a profile of the agricultural product within the storage compartment. ### Claim 20 (depends on 13) The control system of claim 13, wherein the first target position is longitudinally offset from the second target position.