Method and system for controlling the loading of a container associated with a vehicle

(54) Title: METHOD AND SYSTEM TO CONTROL THE LOADING OF A CONTAINER ASSOCIATED WITH A VEHICLE (30) Unionist Priority: 10/15/2007 us 11/872097 (73) Owner (s): Deere & Company (72) Inventor ( es): AndrewKarl Wilhelm Rekow, Cameron Ray Mott (57) Abstract: method and system to control the LOADING OF A CONTAINER ASSOCIATED WITH A VEHICLE. A guide location determination receiver is described which determines a guide location of a guide vehicle. A tracking location determination receiver determines a tracking location for a tracking vehicle, which has a container for storing material. A data processor or position module calculates an observed relative position between the guide vehicle and the follower vehicle. Target relative positions are established between the guide vehicle and the follower vehicle. A data processor or selector selects a preferred position from the established target positions. A processor or data adjuster adjusts the observed relative position of the follower vehicle to achieve the preferred position selected from the established target positions.

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ΡΙ0804114 -8 "METHOD AND SYSTEM TO CONTROL THE LOADING OF A CONTAINER ASSOCIATED WITH A VEHICLE"

FIELD OF THE INVENTION

This invention relates to a method and system for controlling the container loading associated with a vehicle.

BACKGROUND OF THE INVENTION A guide vehicle can harvest or collect material (for example, harvested crops, grains, ore, mined materials, or other material) that is loaded into a follower vehicle that follows the guide vehicle. If the guide vehicle and the follower vehicle are manned and both mobile, operators can attempt to coordinate the relative positions of the vehicles to facilitate loading a container associated with a follower vehicle. However, it can be extremely difficult to coordinate the relative positions of mobile vehicles accurately due to potential variations in the positions of each vehicle, for example. In this way, there is a need to automatically coordinate the speed and position of the guide vehicle and the follower vehicle.

SUMMARY OF THE INVENTION

According to an embodiment of the invention, a method and system for controlling the loading of a container associated with a vehicle comprises a guide location determination receiver to determine a guide vehicle location. A tracking location receiver determines the tracking location of a tracking vehicle. The follower vehicle has a container for storing material. A data processor or position module calculates an observed relative position between the guide vehicle and the follower vehicle. Target relative positions are established between the guide vehicle and the follower vehicle, where the target relative positions include at least a first target relative position and a second target relative position spatially separate from the first target relative position. A processor or data selector is able to select a preferred position from the target positions established. A processor or data adjuster adjusts the observed relative position of at least one of the vehicles (for example, follower vehicle) to achieve the preferred position selected from the established target positions.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram of a modality of a system for controlling the loading of a container associated with a vehicle.

Figure 2 is a flow chart of an embodiment of a method for controlling the loading of a container associated with a vehicle.

Figure 3 is a flow chart of another modality of a method for controlling the loading of a container associated with the vehicle.

Figure 4A shows a top view of a guide vehicle (e.g., a combined vehicle) and a follower vehicle (e.g., grain truck) in a first illustrative relative position.

Figure 4B shows a top view of a guide vehicle (for example, a combined vehicle) and a follower vehicle (for example, a grain cart) in a second illustrative relative position.

Figure 4C shows a top view of a guide vehicle (for example, a combined vehicle) and a follower vehicle (for example, a grain cart) in a third illustrative relative position.

Figure 5 is a block diagram of another embodiment of a system for controlling the loading of a container associated with a vehicle.

Figure 6 is a block diagram also of another modality of a system for controlling the loading of a container associated with a vehicle.

DESCRIPTION OF THE PREFERRED EMBODIMENT

Figure 1 illustrates a possible modality of system 11 to control the loading of a container associated with a follower vehicle. A guide vehicle or guide vehicle can provide a supply of material for deposit or storage in the container of the follower vehicle. The guide vehicle can establish a path and speed (for example, speed and advance) that is generally followed or followed by the follower vehicle, at least during a certain operating time.

The follower vehicle can be associated with one or more containers to contain or store material (for example, grains or biomass raw material). In one example, the follower vehicle can be equipped with different containers with separate level indicators and filling indicators to indicate the level of material filling in the container. In another example, the follower vehicle is associated with a single container that has different zones, sections, compartments, subcontainers or subdivisions, where each zone, section, compartment, subcontainer or subdivision is associated with a level sensor or fill sensor for the material. In the form used here, volume or zone must refer to one or more of the following: (1) a part or section of a container, regardless of whether it is separated from any other section of the container by a partition, wall, retainer or chamber ; and (2) a container within a group of containers associated with the follower vehicle.

The system 11 generally comprises electronic components of the guide vehicle 10 that communicate with the electronic components of the follower vehicle 12 by means of one or more wireless communication devices (30, 62). For example, the wireless guide communication device 30 and the wireless follower communication device 62 support communication between the electronic components of the guide vehicle 10 and the electronic components of the follower vehicle 12. The electronic components of the guide vehicle 10 are housed, mounted or supported by the follower or guide vehicle. The electronic components of the follower vehicle 2 are housed, mounted or supported by the follower vehicle.

The electronic components of the guide vehicle 10 comprise a guide data processor 18, a user interface 28, a data storage device 14, a guide location determination receiver 34, a guide wireless communication device 30 and a vehicle controller 36 coupled to a primary data bus 32. In turn, the vehicle controller 36 is coupled to a secondary data bus 38. The vehicle controller 36 is able to communicate, directly or indirectly, with one or more of the following components (for example, via a secondary data bus 38): a steering system 40, brake system 42, a propulsion system 44.

The electronic components of the follower vehicle 12 comprise a follower data processor 54, a data storage device 14, a follower location determination receiver, a follower wireless communication device 62 and a vehicle controller 36 coupled to a bus. primary data 32. In turn, the tracking location receiver, a tracking wireless communication device 62 and a vehicle controller 36 coupled to a primary data bus 32. In turn, the vehicle controller 36 is coupled to a data bus. secondary data 38. Vehicle controller 36 is able to communicate, directly or indirectly, with one or more of the following components: the steering system 40, the brake system 42 and the propulsion system 44.

In one embodiment, the guide data processor 18 additionally comprises a guide position module 20, a guide adjuster 22, a selector 24 and a synchronization module 26, while the follower data processor 54 comprises a control module follower position 56, a follower adjuster 58 and a synchronization module 26.

In the guide data processor 18, selector 24 can support a manual user selection or automatic selection of the guide data processor from one or more relative positions (for example, predetermined relative positions) between the guide vehicle and the follower vehicle. For automatic selection according to an illustrative configuration, selector 24 may comprise a stopwatch that supports maintaining a certain relative position between vehicles for a corresponding maximum period of time before moving to the next relative position between vehicles. However, other settings are possible for automatic selection, as will be explained in more detail here below.

User interface 28 may comprise an alphanumeric keypad, a numeric keypad, a screen, a touchscreen, a monitor, a pointing device (for example, an electronic mouse or ball mouse), a key, a console , a voice recognition device, another device for entering data from a user or leaving data for a user, or any combination of the items mentioned.

The steering system 40 comprises a hydraulic steering system, an electro-hydraulic steering system, an electromechanical steering system, an electromechanical actuator, an electric steering system, a cable-driven steering system or another steering system with an electrical or electronic control interface for communication over a secondary data bus 38 or otherwise communicating with the vehicle controller 36. In one embodiment, the electronic control interface may comprise a sensor to detect a position of a hydraulic cylinder in the steering system 40 and an actuator to control the position of the hydraulic cylinder in the steering system 40 and an actuator to control the position of the cylinder hydraulic or other steering system element 40 in response to vehicle controller commands 36. Although steering system 40 can use digital messages (for example, logic level signals) to control direction, in an alternative embodiment, steering system 40 can use analog signals, particularly if steering system 40 is configured to communicate directly with the vehicle controller 36.

The brake system 42 comprises a hydraulic brake system, an electro-hydraulic brake system, an electromechanical brake system, an electromechanical actuator, an electric brake system, a cable brake system or another brake system with an interface electrical or electronic control for communication via the secondary data bus 38 or for communication in another way with the vehicle controller 36. In one embodiment, the electronic control interface may comprise a sensor to detect the position of a hydraulic cylinder in the brake system 42 and an actuator to control or modulate the position of the hydraulic cylinder or other element of the brake system 42 in response to commands. of the vehicle controller 36. Although the brake system 42 can use digital messages (for example, logic level signals) to control braking, in an alternative mode the brake system 42 can use analog signals, particularly if the brake system 42 is configured to communicate directly with the vehicle controller 36.

In one embodiment, the propulsion system 44 comprises the combination of an engine controller and an internal combustion engine. The engine controller can control an idle setting, carburetor, fuel injection system, fuel metering system or air metering system, or other fuel distribution system for the internal combustion engine, for example.

In another embodiment, the propulsion system 44 comprises an electric motor, a drive motor, an alternating current motor, an induction motor, a permanent magnet motor, a direct current motor, or another motor suitable for propelling a vehicle. In addition, the propulsion system 44 may comprise a motor controller (for example, an inverter, pulsed amplifier, wave generator, variable frequency oscillator, variable current source, or variable voltage source) to control speed, torque and direction of rotation of the electric motor shaft. Also in another embodiment, the propulsion system 44 comprises a hybrid drive system, a parallel hybrid system or a series hybrid system, in which at least one of an electric motor and an internal combustion engine can propel the vehicle. For example, in a parallel hybrid system, the electric motor, the internal combustion engine, or both can apply power to one or more wheels (or tracks) of the vehicle. For a series hybrid system, the electric motor typically supplies power to one or more wheels (or tracks) of the vehicle.

The guide location determination receiver 34 comprises a location determination receiver, such as a Global Positioning System receiver, a Global Positioning system receiver with differential correction, or the like. A guide antenna for the guide location determination receiver 34 is mounted in a guide reference position (for example, 401 in figure 4A) on the guide vehicle (for example, 400 in figure 4A).

The tracking location determination receiver 46 comprises a location determining receiver, such as a Global Positioning System receiver, a Global Positioning System receiver with differential correction, or the like. The follower antenna of the follower location determination receiver 48 is mounted at a follower reference position (for example, 403 in figure 4A) on the follower vehicle (for example, 405 in figure 4A).

During operation, the guide location determination receiver 34 determines a guide location of a guide vehicle or a guide reference point on the guide vehicle. A tracking location determination receiver 46 determines a tracking location of a tracking vehicle or tracking point of reference on the tracking vehicle. The follower vehicle is associated with one or more containers, volumes or zones to store a material. Each container can be organized, divided or compartmentalized into one or more different volumes or zones. The material can comprise a cut crop, grain, oil seed, biodiesel raw material, fiber, an agricultural product, plant material, a fruit, a vegetable, peat, ore, or a mined material, for example.

A data processor (18 or 54) or position module (20 or 56) calculates an observed relative position between the guide vehicle and the follower vehicle. Here, the data processor may refer to the guide data processor 18, the follower data processor 54, or both. Similarly, here the position module can refer to the guide position module 20, the follower position module 56, or both.

The data processor manages the storage and retrieval of data from target relative positions 16 stored in the data storage device 14. Target relative positions 16 are established between the guide vehicle and the follower vehicle, where target relative positions 16 include at least a first target relative position and a second target relative position separated spatially from the first target relative position. Each relative position can be defined as a distance and angular inclination between the guide reference point and the following reference point. For example, each relative position can be defined by a distance between the guide reference point and the following reference point, and an angular slope with reference to the guide reference point. Each relative position can have a tolerance or range with respect to distance and angular inclination.

A data processor or selector 24 selects a preferred position from the established target positions 16. A data processor (18 or 54) or adjuster (22 or 58) adjusts the observed relative position of the follower vehicle to tint the selected preferred position of the targeted positions established. Selector 24 can support a user manual selection or automatic selection of the guide data processor from one or more relative target positions (e.g., predetermined relative target positions) between the guide vehicle and the follower vehicle. For automated selection, selector 24 may comprise a stopwatch that supports maintaining a certain relative position between vehicles for a corresponding maximum period of time to move a next relative position between vehicles.

Figure 2 illustrates a method for controlling the loading of a container or containers associated with the follower vehicle. The method of figure 2 can be performed using the system of figure 1, figure 4, figure 5, or another system according to the scope of the disclosure. The method in figure 2 starts at step SI02.

In step SI02, the guide location determination receiver 34 determines a guide location for a guide vehicle (for example, a combine or a combine). For example, the guide location determination receiver 34 can determine the first coordinates of the guide vehicle or of a guide ante associated with it.

In step SI04, a tracking location determination receiver determines a tracking location for a tracking vehicle (for example, with a container for storing a crop or grain harvested from the combine or combine). For example, the guide location determination receiver 34 can determine the second coordinates of the follower vehicle or of a follower antenna associated with it.

In step SI06, a guide position module 20, a follower position module 56, or both, calculate an observed relative position (e.g., distance and angular orientation) between the guide vehicle and the follower vehicle. The observed relative position can represent the difference between the first coordinates and the second coordinates of step SI02 and step SI04, respectively. For example, the position module or data processor calculates the distance and angle between a guide reference point (for example, 401 in figure 4A) and a follower reference point (for example, 403 in figure 4A), where the point The guide reference antenna can be associated with the guide antenna of the guide for determining the location of the receiver 34 and where the following reference point can be associated with the follower of the receiver of the determining of the location of the receiver 46. The synchronization module 26 or modules can be used to synchronize, reconcile or align a first observed relative position determined by the guide position module 20 and a second observed relative position determined by the follower position module 56. In a first example, the synchronization module 26 can average the first observed relative position and the second observed relative position to determine an aggregate relative position for a given time interval. In a second example, the synchronization module 26 can use the last or most recent of the first observed relative position and the second observed relative position as the aggregate relative position for a given time interval. In a third example, the synchronization module 26 can use the relevant observed position associated with the highest quality of the received signal (for example, low bit error rate or frame error rate) for one or more terrestrial or satellite signals received.

In step SI08, the data processor (18 or 54) establishes target relative positions 16 between the guide vehicle and the follower vehicle, where the target relative positions 16 include at least a first target relative position and a second target relative position. The target relative positions may comprise predefined positions that are defined with reference to reference points or associated with the guide vehicle and the follower vehicle. In one example, the first target relative position is expressed as a first distance (Di) and a first angle (θι) with respect to a guide reference point of the follower vehicle and a follower reference point of the follower vehicle; the first target relative position is aligned in such a way that a channel or conduit of the guide vehicle is aligned with a first volume or first zone of the container of the follower vehicle. In another example, the second target relative position is expressed as a second distance (D₂) and a second angle (θ₂) in relation to a guide reference point of the guide vehicle and a follower reference point of the follower vehicle; the second target relative position aligned with a rail or conduit like that of the guide vehicle is aligned with a second volume or second zone of the container of the follower vehicle. Also in another example, the third relative position is expressed as a third distance (D₂) and a third angle (θ₂) in relation to a guide reference point of the guide vehicle and a follower reference point of the follower vehicle; the third target relative position aligned in such a way that a guide vehicle channel or conduit is aligned with a third volume or second zone of the follower vehicle container.

The data processor (18 or 54) can retrieve the established target relative positions 16 from a data storage device 14. In one embodiment, the established relative target positions 16 can be established via a user interface 28. The positions established targets may depend on the physical dimensions of the guide vehicle and the follower vehicle, for example. In one embodiment, the target positions established represent factory configurations or pre-programmed configurations associated with a combine or harvester as the guide vehicle and with a grain cart as the follower vehicle.

In step SI 10, a selector 24 or data processor (18 or 54) selects a reference position from the established target positions. The selection process of step S110 can be carried out according to various techniques, which can be applied alternately or cumulatively. In a first technique, selector 24 can support a user manual section of one or more relative target positions (for example, predetermined relative target positions) between the guide vehicle and the follower vehicle. Additionally, the user can have a preset button or key corresponding to each vehicle's preset position. The positions can be identified verbally, numerically, alphanumerically or by a visual illustration (for example, a top-down view of a grain car indicating the front of the load, the means of load or the rear of the load) of the follower vehicle.

In a second technique, selector 24 or data processor (18 or 54) can automatically select one or more relative target positions (for example, predetermined relative target positions) between the guide vehicle and the follower vehicle based on data from the stopwatch or sensor data.

In a third technique, a timer can communicate with selector 24 to support maintaining a certain relative position between vehicles for a corresponding maximum period of time to move the next relative position between vehicles. The maximum time period can be selected based on (1) a storage capacity of the container, volume or zone, and (2) the production rate of the guide vehicle material, the distribution rate, the flow rate or the production of the material of the guide vehicle for the follower vehicle.

In a fourth technique, a weight sensor (for example, piezoelectric or piezoresistive sensor) can transmit a status signal to selector 24 (or weighing module 61 in figure 5) to support the exchange of relative positions between vehicles after reaching a certain minimum weight of material in a corresponding volume or area of ​​the container of the follower vehicle. In a fifth technique, a sensor can transmit a status signal to selector 24 (or sensor processing module 161 in figure 6) to support the exchange of relative positions between vehicles after reaching a certain height or amount of material in a volume or corresponding area of ​​the follower vehicle container.

In a sixth technique, a weight sensor transmits a sensor signal or status signal to selector 24 (or weighing module 61 in figure 5) that indicates whether the minimum weight threshold is reached or exceeded in a zone or volume of the container ; selector 24 changes the position of the follower vehicle in relation to the guide vehicle from one zone or volume to another zone or volume. The selector 24 can move from one zone to another until the zones or volumes associated with all other positions are filled to a desired point.

In a seventh technique, an electromagnetic sensor transmits a sensor signal or status signal to selector 24 (or sensor processing module 161 in figure 5) that indicates whether the minimum height threshold or full level is reached or exceeded in a zone or volume of the container; selector 24 changes the position of the follower vehicle in relation to the guide vehicle from one zone or volume (for example, a full zone) to another zone or volume (for example, a partially full or empty zone). The selector 24 can move from one zone to another until the zones or volumes associated with all other positions are filled to a desired degree. For the electromagnetic sensor, the level of material or filling of the zone or volume of the container is indicated where a reflection of the electromagnetic signal is not received in a minimum threshold time based on a material in a corresponding zone of the container that blocks or attenuates the signal transmitted electromagnetic.

In step SI 12, an adjuster, follower adjuster 58 or guide adjuster 22 adjusts the observed relative position of the follower vehicle (with respect to the guide vehicle) to achieve a preferred position selected from the established target positions. For example, the adjuster adjusts the distance between the reference points (401, 403 of figure 4A) or the angular slope (0) between the reference points (401, 403). The adjuster can adjust the actual relative positions of the vehicles to achieve the target relative distance and the target angular inclination associated with a first relative target position, a second relative target position and a third relative target position, or to achieve another orientation or offset ( for example, side shift and travel direction) between vehicles, where location determination receivers (34, 46) indicate that the actual relative positions deviate more than a maximum tolerance from the target relative positions (or target relative distance and target angular inclination).

The method in figure 3 is similar to that in figure 2, except that the method in figure 3 replaces step SI08 with step S208. Same reference numbers in figure 2 and figure 3 indicate equal steps or procedures.

Step S208 can follow step SI08. In step S208, the data processor (18 or 54) establishes relative target positions between the guide vehicle and the follower vehicle, where the target relative positions 16 include at least one first target relative position (for example, associated with the front of the vehicle follower or its container), a second target relative position (for example, associated with the rear of the follower vehicle or its container), and a third target relative position (for example, associated with the medium of the follower vehicle or its container). In one embodiment, the first target relative position is associated with the front of the follower vehicle container; the second target relative position is associated with the middle part of the follower vehicle container; the third targeted relative position is associated with the rear of the follower vehicle container.

Figure 4A through figure 4C show a guide vehicle 400 and a follower vehicle 405 in various relative positions targeted 16. Figure 4A shows the guide vehicle 400 and follower vehicle 405 in a first targeted relative position. Figure 4B shows the guide vehicle 400 and the follower vehicle 405 in a second targeted relative position. Figure 4C shows the guide vehicle 400 and the follower vehicle 405 in a third targeted relative position. It should be understood that the relative positions targeted from figure 4A to figure 4C, inclusive, are merely representative of illustrative targeted positions; Actual target positions may vary and other target positions that fall within the scope of this disclosure and the claims. Each relative target position can be defined with reference to a guide reference point 400 and a follower reference point 403, where the guide reference point 400 coincides with the guide location determination receiver 34 and where the reference point follower 403 matches a follower antenna of a follower of 46 location determination receiver.

In figure 4A, the first target relative position can be expressed as a first distance (Dj) and a first angle (0j) with respect to a guide reference point 401 (for example, the position of the determination receiver's guide antenna) guide location 34). The distance Di is the shortest distance, or linear distance, between the guide reference point 401 and the tracking reference point 403 (for example, the position of the tracking antenna of the tracking location receiver 46). The first target relative position can be aligned in such a way that a guide rail 404 or conduit 400 (for example, combined) is aligned with a first volume or first zone 406 of a container of the follower vehicle 405 (for example, car for grains). As shown, the first volume 406 is associated with a front part of the container, where the front is defined with reference to the direction of travel 444 of the follower vehicle

405. Although the first volume 406 is distinct or separated from the second volume 407 by the dashed line in figure 4A, it must be understood that the container can be divided into multiple deposits, compartments or subcontainers to contain the material, or the container can simply be a container. unit divided into different portions without any associated walls, barriers or physical divisions.

In figure 4B, the second target relative position can be expressed as a second distance (D₂) and the second angle (0₂) with respect to a guide reference point 401 (for example, the positioning antenna position of the location receiver). The distance D₂ is the shortest distance, or linear distance, between the guide reference point 401 and the follower reference point 403 (for example, the position of the tracking antenna of the tracking location receiver 46). The second target relative position can be aligned in such a way that a guide rail 404 or conduit of the guide vehicle 400 is aligned with a second volume 407 or second zone of a container of the follower vehicle 405. As shown, the second volume 407 is associated with an intermediate part of the container, where the front is defined with reference to the direction of travel of the follower vehicle 405. Although the second volume 407 is distinct or separated from the first volume 406 and the third volume 408 by the dashed lines in figure 4B, it should be understood that the container can be divided into multiple deposits, compartments or subcontainers to contain the material, or the container can simply be a unitary container divided into different parts without any associated walls, barriers or physical divisions.

In figure 4C, the third target relative position can be expressed as a third distance (D3) and a third angle (0₃) with respect to a guide reference point 401 (for example, the positioning antenna position of the location receiver). The distance D₂ is the shortest distance, or linear distance, between the guide reference point 401 and the follower reference point 403 (for example, the position of the tracking antenna of the tracking location receiver 46). The targeted third relative position can be aligned in such a way that a guide rail 404 or conduit of the guide vehicle 400 is aligned with a third volume 408 or third zone of a container of the follower vehicle 405. As shown, the third volume 408 is associated with a rear part of the container, where the front is defined with reference to the direction of travel of the follower vehicle 405. Although the third volume 408 is distinct or separated from the second volume 407 by the dashed line in figure 4C, it should be understood that the container can be divided into multiple deposits, compartments or sub-containers to contain the material, or the container can simply be a single container divided into different parts without any associated walls, barriers or physical divisions.

The system 111 in figure 5 is similar to system 11 in figure 1, except that the electronic components of the follower vehicle 112 in figure 5 additionally comprise a first sensor assembly 70, a second sensor assembly 71 and a third sensor assembly 72 associated with a container or containers of the follower vehicle. In addition, the follower data processor 154 further comprises a weighing module 61.

Each sensor set (70, 71 and 72) comprises a piezoelectric sensor, a piezoresistive sensor or another weight sensor to detect a weight associated with a material (for example, grain, oil seed, harvested harvest, fiber, cotton or corn ) stored or accumulated in a corresponding part or zone of the container. For example, each weight sensor (73, 76 and 77) can be pressed between a base of the container and a pressure plate on which the material in a certain zone or part of the container rests. A piezoelectric sensor generates electrical energy or electrical property in response to the application of pressure, force or weight to the sensor. A piezoresistive sensor changes its electrical resistance in response to the application of pressure, force or weight. If the weighing module 61 determines that the weight or mass applied to the weight sensor (70, 71 or 72) reaches or exceeds a minimum threshold weight, the corresponding zone or volume of the container can be considered filled with the material, or having a target level of material.

If the weight sensor (73, 76 or 77) provides an analog output as sensor data, the weight sensor can be coupled to an analog-to-digital converter 74 (for example, an A / D converter). In turn, the analog-to-digital converter 74 can be coupled to a data transceiver 75 which is capable of transmitting or receiving a data message from the follower data processor 154 via the primary data bus 32. A first sensor set 70 comprises a first weight sensor 73 coupled to an analog-to-digital converter 74, which in turn is coupled to a data transceiver 75. A second sensor set 71 comprises a second weight sensor 76 coupled to an analog-to-digital converter 74, which in turn is coupled to a data transceiver 75. A third sensor assembly 72 comprises a third weight sensor 77 coupled to an analog digital converter 74, which in turn is coupled to a data transceiver 75.

The weighing module 61 evaluates the sensor data (for example, weight data or status message data) transmitted from one or more data transceivers 75 associated with different zones or volumes of the follower vehicle, or one or more containers associated with the follower vehicle (for example, 405). As shown in figure 5, the sensor assemblies (70, 71 and 72) comprise a first sensor assembly 70 associated with a first zone or first volume (for example, 406) of a container or containers of the follower vehicle; a second sensor assembly 71 associated with a second zone or second volume (for example), 407) of the container or containers of the follower vehicle; and a third sensor assembly 72 associated with a third zone or third volume (e.g. 408) of the container or containers of the follower vehicle. For example, the first sensor assembly 70 provides a weight reading indicative of a material or fill level of the first zone or first volume 406; the second sensor assembly 71 provides a weight reading indicative of a material or fill level of the second zone or second volume 407; and the third sensor assembly 72 provides a weight reading indicative of a material or fill level of a third zone or third volume 408.

In a first example, if weighing module 61 determines that a minimum threshold weight is reached or exceeded in a zone or volume of the container, follower adjuster 58 can shift a target position (for example, the first relative target position) of the vehicle follower relative to the guide vehicle with another next target position (for example, a second relative target position or a third relative target position). In a second example, the follower data processor 54 can transmit a signal from the wireless communication device of the follower vehicle 62 to the wireless guide communication device 30 in such a way that the guide position module 20 or the guide adjuster 22 move the position of the guide vehicle (for example, 400) in relation to the follower vehicle (for example, 405), until the zones or volumes associated with the other positions are filled to a desired degree or desired level of filling. The desired level of filling can be expressed as a percentage or fraction of the total capacity of any zone or volume, for example. Regardless of which electronic components of the vehicle (10, 12, 112 or 212) initiates the exchange from one target position to another target position, the exchange is communicated to the other electronic components of the vehicle via wireless communication devices (30, 62). In addition, the synchronization modules 26 can track such exchanges to better coordinate the maintenance of the appropriate relative positions of the vehicles (400, 405). If the weighing module 61 determines that all available zones or volumes of the container or the follower vehicle are full, the material carried by the chute can be disabled for a period of time to allow another follower vehicle that has an empty container to fit into the guide vehicle in the collection and storage of material.

The system 211 of figure 6 is similar to system 11 of figure 1, except that the electronic components of the follower vehicle 212 of figure 6 comprise a first sensor assembly 170, a second sensor assembly 171 and a third sensor assembly 172 associated with a container or following vehicle containers. In addition, the follower data processor 254 further comprises a sensor processing module 61.

Each sensor assembly (170, 171 and 172) comprises an electromagnetic sensor (for example, an optical sensor or a laser sensor) or EM sensor. The electromagnetic sensor (173, 176 or 177) can comprise a transceiver, the combination of a transmitter and a receiver, the combination of a laser transmitter and an optical or electromagnetic radiation detector (for example, photodetector or cadmium sulfide cell) that operates in the visible, ultraviolet, infrared, near infrared or other suitable range of the electromagnetic spectrum. In addition, each sensor assembly (170, 171 and 172) can be associated with a passive optical reflector, a reflective surface or a mirror that is spatially separated from the transmitter, light source, laser or transceiver. For example, the passive optical reflector, reflective surface or mirror may be located on one side or opposite part of the sensor assembly container (170, 171 and 172) in such a way that an optical path or electromagnetic path between the sensor assembly and the reflector , reflective surface or mirror intercepts, collides or radiates material across the material level, or close to it, for each volume, monitored zone or monitored section of the container.

If the electromagnetic sensor (173, 176 or 177) provides an analog output, the electromagnetic sensor is coupled to an 74 analog-to-digital converter, or A / D converter. In turn, the digital-to-digital converter 74 can be coupled to a data transceiver 75 that is capable of transmitting or receiving a data message from the follower data processor 54 or sensor processing module 61 via the primary data bus 32 . A first sensor set 170 comprises a first electromagnetic sensor 173 coupled to an analog-to-digital converter 74 which, in turn, is coupled to a data transceiver 75. A second sensor set 171 comprises a second electromagnetic sensor 176 coupled to an analog converter -digital 74, which, in turn, is coupled to a data transceiver 75. A third sensor assembly 172 comprises a third electromagnetic sensor 177 coupled to an analog-to-digital converter 74, which in turn is coupled to a data transceiver 75.

If no reflection is received from an electromagnetic signal transmission, or light radiated from an electromagnetic sensor (173, 176 or 177) towards the reflector, reflective surface or mirror, the electromagnetic sensor (173, 176 or 177) (for example, example, a photodetector part thereof) can transmit a signal or status message to the sensor processing module 61 via primary data bus 32 which indicates that the particular volume, zone or section of the container is full, or full to a certain level associated with the transmitted beam of electromagnetic radiation. The sensor processing module 61 or follower data processor 254 evaluates signal or status message data transmitted from one or more data transceivers 75 associated with different zones or volumes of the container or the follower vehicle. As shown in figure 6, the sensor assemblies (170, 171 and 172) comprise a first sensor assembly 170 associated with a first zone or first volume (for example, 406) of a follower vehicle container (for example, 405); a second sensor assembly 171 associated with a second zone (e.g., 407) or second container volume of the follower vehicle; and a third sensor assembly 172 associated with a third zone (e.g., 408) or third volume of the follower vehicle container.

In one example, if the sensor processing module 61 determines that a reflection of an electromagnetic signal is not received in the sensor assembly (170, 171 or 172) in a zone or volume of the container, the follower adjuster 58 can shift the position of the follower vehicle (eg 405) in relation to the guide vehicle (eg 400). In another example, if the sensor processing module 61 determines that a reflection of an electromagnetic signal has not been received in the sensor assembly (170, 171 or 172) in a zone or volume of the container, the follower data processor 254 can transmit a signal from the wireless communication device of the follower vehicle 62 to the wireless guide communication device 30 in such a way that the guide position module 20 or the guide adjuster 22 moves the position of the guide vehicle (eg 400) with respect to the follower vehicle (eg 405), until the zones or volumes associated with the other positions are filled to a desired level. Regardless of which electronic components of the vehicle (10, 12, 112 or 212) initiates the exchange from the target relative position to another target relative position, the exchange is communicated to the other electronic components of the vehicle via wireless communication devices (30 , 62). In addition, the synchronization modules 26 can track such shifts to better coordinate the maintenance of the appropriate relative positions (for example, including angular inclination and distance, or lateral displacement and direction of travel displacement) of the vehicles. If the sensor processing module 61 or follower data processor 254 determines that all available zones or volumes of the container or the follower vehicle are full, or filled to a desired level, the material sent through the chute can be disabled for a period of time to allow another follower vehicle that has an empty container to fit the guide vehicle (eg 400) in the collection or storage of material.

In one embodiment, the follower vehicle (for example, 405) has at least two zones or volumes to store the material. In one example, each zone can be associated with an electromagnetic sensor (for example, optical sensor or 173, 176 or 177) that detects optically or electromagnetically detects a level of material stored in the zone. The electromagnetic sensor (173, 176 or 177) can comprise an optical transmitter that transmits an optical, infrared, near infrared or laser signal from one side of the container towards the optically reflective element on an opposite side, part of the opposite diameter, or radially opposite part of the container. In addition, the electromagnetic sensor (173, 176 or 177) comprises an optical receiver that is capable of receiving the reflection from the optically reflective element if the reflection is not attenuated or blocked by the presence of material stored in the zone or volume. In this way, the electromagnetic sensor (173, 176 or 176) can be configured to provide a status signal or zone status data message (for example, zone full message) to selector 24 in such a way that selector 24 can switch to another zone that is not yet full.

Having described the preferred embodiment, it is apparent that various modifications can be made without departing from the scope of the invention, as defined in the following claims.