System and method of material handling using one or more imaging devices on the transferring vehicle and 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 first image data by a first imaging device facing towards a storage portion of a receiving vehicle, the storage portion capable of storing material;
• identifying a bin perimeter of the storage portion by locating a linear set of pixels associated with the bin perimeter in the collected image data;
• identifying a spout of the transferring vehicle in the collected image data;
• determining the relative position of the spout and the bin 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 zone of the bin 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 agricultural material;
• an imaging device facing towards the storage portion of the receiving vehicle, the imaging device collecting image data;
• a bin identification module for identifying a bin perimeter of the storage portion, wherein the bin identification module identifies the bin perimeter by locating a linear set of pixels associated with the bin perimeter in the collected image data;
• a spout identification module for identifying a spout of the transferring vehicle 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 bin perimeter using the collected 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 central zone of the bin 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.