A control system of an agricultural vehicle with a goods carrier, an agricultural vehicle and a method of controlling a goods carrier of the agricultural vehicle

摘要

A control system controlling a goods carrier (9) of an agricultural vehicle (1) for conveying goods to a target area (11), comprises a 3D imaging device (29) providing frames imaging the target area, a data processor (46) and a memory (46). 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 (11),
identify a plurality of characteristic points of the target area (11) in the reference frame,
obtain a new frame,
analyse the new frame to identify a plurality of characteristic points,
search and match characteristic points in the reference frame and the new frame,
analyse pairs (53) 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.