System and method of material handling using one imaging device on the receiving vehicle to control the material distribution into the storage portion of the receiving vehicle

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

• collecting image data by an imaging device facing towards a storage portion of a receiving vehicle, the storage portion capable of storing material;
• identifying a container perimeter of the storage portion by locating a linear set of pixels associated with the container perimeter in the collected image data;
• identifying a spout of the transferring vehicle by locating pixels associated with the spout in the collected image data;
• determining whether to use the image data for alignment of a relative position of the spout and the container perimeter based on evaluation of material variation of intensity of pixel data or material variation in ambient light conditions during a sampling time interval;
• determining the relative position of the spout and the container perimeter using the image data;
• and
• generating command data for a propelled portion of the receiving vehicle to steer the storage portion in cooperative alignment such that the spout is aligned within a target zone of the container perimeter.

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

• a receiving vehicle comprising a propelled portion for propelling the receiving vehicle and a storage portion for storing material;
• an imaging device facing towards the storage portion of the receiving vehicle, the imaging device collecting image data;
• a container identification module for identifying a container perimeter of the storage portion, wherein the container identification module identifies the container perimeter by locating a linear set of pixels associated with the container perimeter in the collected image data;
• a spout identification module for identifying a spout of the transferring vehicle, wherein the spout identification module identifies the spout by locating pixels associated with the spout in the collected image data;
• an adjustable mast capable of adjusting a height of the imaging device within a height range and adjusting a down-tilt angle of the imaging device within a down-tilt angular range;
• an image processing module for determining whether to adjust the height of the imaging device or whether to decrement or increment the down-tilt angle of the imaging device based on evaluation of material variation of intensity of pixel data or material variation in ambient light conditions during a sampling time interval;
• an alignment module for determining the relative position of the spout and the container perimeter using the image data and for generating command data to the propelled portion to steer the storage portion in cooperative alignment such that the spout is aligned within a target zone of the container perimeter;
• and
• a steering controller associated with a steering system of the propelled portion for steering the receiving vehicle in accordance with the cooperative alignment.