Artificial intelligence for detecting and filling void areas of agricultural commodity containers

A method of transferring agricultural material, the method comprising:

• collecting image data by an imaging device facing towards a storage portion of a receiving vehicle, the storage portion of the receiving vehicle capable of storing agricultural material transferred to the storage portion from a transferring vehicle via a spout;
• identifying a multimodal distribution of multiple peaks of the agricultural material;
• while the agricultural material is being transferred to the storage portion, processing the image data to determine a fill level profile of the agricultural material within the storage portion;
• based on the fill level profile, identifying a first void within the storage portion;
• and
• commanding the spout to a first position to direct the agricultural material to the first void when the multimodal distribution has been identified.

A system, comprising:

• a transferring vehicle having a spout for transferring agricultural material to a storage portion of a receiving vehicle;
• an imaging device associated with the transferring vehicle and facing towards the storage portion of the receiving vehicle, the imaging device collecting imaging data;
• an image processing module operable to:
• based on the imaging data, estimate fill levels of agricultural material within the storage portion,
• identify a multimodal distribution of multiple peaks of the agricultural material,
• identify an area of the storage portion as targeted to fill, and
• identify a first void within the targeted area;
• and
• a controller in communication with the image processing module and configured to command the spout to a position to direct the agricultural material to the first void when the controller identifies the multimodal distribution.

A system for facilitating transfer of agricultural material, the system comprising:

• a transferring vehicle comprising a propelled portion for propelling the transferring vehicle and a spout for transferring the agricultural material to a storage portion of a receiving vehicle, the spout having a discharge portion;
• a first imaging device associated with the transferring vehicle and facing towards the storage portion of the receiving vehicle, the first imaging device collecting first image data;
• an image processing module to estimate an observed fill level of the storage portion based on the first image data and to estimate a distribution of agricultural material in the storage portion, the image processing module configured to identify at least one void in the distribution and an associated target position in an opening directly above the at least one void, wherein the image processing module identifies a multimodal distribution of multiple peaks of agricultural material of the distribution in the storage portion;
• and
• a controller configured to trigger shifting of the discharge portion of the spout to the target position to fill the void in the distribution in a void filling mode, wherein the controller is to be inhibited from entering into the void filling mode if the distribution, detectable by the first image data, does not qualify as the multimodal distribution.