Methods for improving the robustness of an automated unloading system

A system for facilitating transfer of agricultural material from a transferring vehicle to a receiving vehicle, the system comprising:

• a spout comprising:
• a length, a rotational end pivotally connected to the transfer vehicle, and a discharge end,
• a rotational actuator to rotate the spout about a vertical axis of rotation from a rest position to a maximum position along a maximum arc,
• a vertical actuator to vertically elevate and lower the discharge end between a rest position height to a maximum position height,
• one or more sensors to determine a current rotational angle φ of the spout and a current elevation angle θ of the spout, and
• an auger drive to transfer agricultural material from the transferring vehicle to the receiving vehicle through the spout;
• the receiving vehicle comprising a propelled portion for propelling the receiving vehicle and a storage portion for storing agricultural material, wherein the storage portion comprising a front side, a rear side, and two longitudinal sides joined at corners, wherein each side has a top edge;
• a first imaging device connected to the spout and facing towards the storage portion of the receiving vehicle, wherein the first imaging device collects first image data;
• a second imaging device connected to a chassis of the transferring vehicle and facing towards the storage portion of the receiving vehicle, wherein the second imaging device collects second image data;
• and
• an image processing module associated with the transferring vehicle, wherein the image processing module comprises a processor for executing software to position the discharge end of the spout with respect to the front side or the rear side or the top edge of the storage portion of the receiving vehicle based on a fill strategy using the first image data and the second image data.