Optical image capture for controlling a position of a harvester transfer device

A control arrangement for controlling a position of an adjustable transfer device of a harvesting machine having a crop receiving header, a crop processing unit for processing crop received from the header, and the adjustable transfer device for unloading processed crop onto a container of a transport vehicle located to a rear end of the harvesting machine, the control arrangement comprising:

• an optical image capture device mounted on the adjustable transfer,
• wherein the optical image capture device includes a field of view including the container positioned at the rear end of the harvesting machine,
• wherein the optical image capture device generates image data;
• an image processing system connected to the optical image capture device,
• wherein the image processing system generates an image signal based on the image data, the image signal comprising container position data
• at least one sensor connected to the adjustable transfer device for sensing a position of the adjustable transfer device, wherein the at least one sensor generates a position signal;
• an electronic control unit connected to the image processing system, the electronic control unit comprising a processor and executable instructions stored on memory,
• wherein the electronic control unit receives the image signal and the position signal;
• at least one actuator connected to the adjustable transfer device and to the electronic control unit for adjusting the position of the adjustable transfer device based on an output from the electronic control unit;
• a display unit connected to the electronic control unit;
• and
• a user interface connected to the electronic control unit;
• wherein the processor of the electronic control unit executes the instructions to:
• identify the container in the image signal and a predetermined location on the container;
• calculate a point of incidence based on the sensor signal and the container position data;
• display an image of the container captured by the optical capture device overlaid with a symbol on the display unit,
• wherein the symbol represents the calculated point of incidence;
• receive adjustment inputs from the user interface for adjusting the position of the at least one actuator to adjust the adjustable transfer device, and update a position of the symbol in the image on the display unit according to an altered position of the at least one actuator if the symbol is not in an accurate position;
• receive a confirmation input from the user interface indicating that the symbol in the image on the display is in an appropriate position with respect to the displayed image of the container in order to fill the container with crop if the symbol is aligned with the container;
• derive at least one feature in the image representing the container;
• and
• track the container based on the at least one feature and control the at least one actuator accordingly to fill the container with crop by adjusting the adjustable transfer device relative to changes in position of the at least one feature.