Control system of agricultural vehicle with goods carrier, agricultural vehicle, and method of controlling goods carrier of agricultural vehicle

摘要

A control system controlling a goods carrier of an agricultural vehicle for conveying goods to a target area, has a 3D imaging device providing frames imaging the target area, a data processor and a memory. The control system derives information from the frames and operates to obtain a reference frame comprising 3D information about the pose of the target area, identify a plurality of characteristic points of the target area in the reference frame, obtain a new frame, analyze the new frame to identify a plurality of characteristic points, search and match characteristic points in the reference frame and the new frame, analyze pairs of matched characteristic points to establish a group of pairs showing a common change of pose between the reference frame and the new frame, and provide a signal taking into account results of the latter analysis.

主权项

1. A control system of an agricultural vehicle controlling a controllable goods carrier of the agricultural vehicle, for conveying goods to a target area, said control system comprising a 3D imaging device for providing frames imaging at least part of the target area; a data processor; and a memory; wherein said control system operation comprises:
deriving information from the frames for controlling the goods carrier, operating to obtain a reference frame comprising 3D information about the target area corresponding to the reference frame, identifying a plurality of characteristic points of the target area in the reference frame, obtaining from the 3D imaging device a new frame imaging the target area, analyzing the new frame to identify a plurality of characteristic points of the target area in the new frame, searching and matching characteristic points of the target areas in the reference frame and the new frame, analyzing pairs of matched characteristic points to establish a group of pairs showing a common change of an amount of the goods between the target areas in the reference frame and the new frame, updating the target area in the reference frame taking into account said common change of the amount of goods; and providing a control signal for controlling delivery of the goods by the goods carrier positioned at the target area by taking into account the common changein the amount of goods within the target area determined by the analyzing.