A harvesting machine crop unloading spout assembly includes an unloading tube elbow terminating at a first end in a first flange that is secured to the outlet of a harvesting machine crop tank. The first flange includes one or more bearings permitting it to swivel about a swivel axis and the unloading tube elbow includes a cranked portion terminating at a second end in an opening. The spout assembly further includes a fixed member adjacent the unloading tube elbow, the unloading tube elbow connected to the fixed member by way of a pivot the axis of which coincides with the swivel axis. The spout assembly includes a rotatable drive gear and a motor drivingly engaged therewith for causing rotation of the unloading tube elbow about the swivel axis, the axis of rotation of the drive gear also coinciding with the swivel axis.

In accordance with one embodiment, a machine for generating electrical energy comprises a housing and a shaft rotatable with respect to the housing. An impeller has blades for rotation with the shaft in response to receipt of material from a chute. A first generator assembly comprises first stator windings associated with the housing and a first magnet affixed to the shaft, such that if the impeller rotates an electromagnetic signal energizes the first stator windings based on the flow of material through the chute.

A harvester movable along a support surface. The harvester includes an inlet configured to receive crop, a blade configured to cut the crop into billet and extraneous plant matter, and a cleaning system configured to distinguish between billet and extraneous plant matter. Billet is directed toward a conveyor configured for discharging billet to a vehicle and extraneous plant matter is directed toward a hood. The hood includes a debris director defining an outlet configured to eject extraneous plant matter as residue onto the support surface. The outlet is disposed at an angle of residue ejection with respect to the support surface. The debris director is configured to adjust the angle of residue ejection with respect to the support surface.

Selectively removable nozzles for inclusion into a grain conveyor are disclosed. The nozzles may include a ramp and a sidewall coupled to the ramp. The ramp may conform to an inner surface of a conveyor housing and produce a constriction within the housing. The sidewall may also conform to the inner surface of the conveyor housing. The ramp may also include a recess that extends along the sidewall. The recess may receive a shaft of the conveyor. One nozzle may be replaced with another in order to accommodate different harvesting conditions. The ramp compresses grain traveling through the conveyor to provide a continuous flow of grain. The continuous flow of grain provides for accurate measurements of grain characteristics by a sensor located adjacent to the flow of grain.

A method of maintaining vehicle formation includes receiving a desired along path distance; receiving a plurality of waypoints corresponding to a plurality of positions along a path of the lead vehicle; determining a dynamic path for the follower vehicle by spline fitting the plurality of positions of the plurality of waypoints; determining a commanded curvature of the follower vehicle based on a curvature of the dynamic path at a current position of the follower vehicle; determining a current along path distance between the lead vehicle and the follower vehicle; determining an along path error; determining a next speed of the follower vehicle based on the along path error and the respective waypoint speed of the respective waypoint that is adjacent to a current position of the follower vehicle; and outputting the commanded curvature and the next speed to a control system of the follower vehicle.

A method of maintaining vehicle formation includes receiving a desired cross track offset distance and a desired along track offset distance between a lead vehicle and a follower vehicle; receiving a current position, a current yaw rate, and a current speed of the lead vehicle; determining a current turn radius of the lead vehicle based on the current yaw rate and the current speed of the lead vehicle; determining a projected turn radius of the follower vehicle based on the current turn radius of the lead vehicle, the desired cross track offset distance, and the desired along track offset distance; determining a commanded curvature and a next speed of the follower vehicle based on a current position of the follower vehicle and the projected turn radius of the follower vehicle; and outputting the next speed and the commanded curvature to a control system of the follower vehicle.

An autonomous grain cart includes a width less than or equal to a distance from an end of the header of an agricultural vehicle to a lateral side of the agricultural vehicle, wherein the end and the lateral side are on a same longitudinal side of a lateral centerline of the agricultural vehicle, wherein the autonomous grain cart is configured to receive grain from the agricultural vehicle. The autonomous grain cart also includes a controller, comprising a processor and a memory. The autonomous grain cart further includes a drive system communicatively coupled to the controller, wherein the controller is configured to instruct the drive system to propel the autonomous grain cart. The autonomous grain cart also includes a steering system communicatively coupled to the controller, wherein the controller is configured to instruct the steering system to steer the autonomous grain cart.

A grain cart and foldable auger assembly having an upper auger assembly portion with a discharge portion, a lower auger assembly portion with an intake portion, and a joint that allows the upper auger assembly portion to be moved between operating and transport positions. When in an operating position, the upper auger portion and the lower auger portion are offset from each other by an operating offset angle. The grain cart also has a hitch for allowing the grain cart to be towed. The discharge portion is forward of the hitch when in the operating position. Embodiments of the present invention provide, for example, increased forward and side reach, additional storage capacity of the hopper, increased discharge rate from the hopper, and a more compact transport position.

Selectively removable nozzles for inclusion into a grain conveyor may include a ramp and a sidewall coupled to the ramp. The ramp may conform to an inner surface of a conveyor housing and produce a constriction within the housing. The sidewall may also conform to the inner surface of the conveyor housing. The ramp may also include a recess that extends along the sidewall. The recess may receive a shaft of the conveyor. One nozzle may be replaced with another in order to accommodate different harvesting conditions. The ramp compresses grain traveling through the conveyor to provide a continuous flow of grain. The continuous flow of grain provides for accurate measurements of grain characteristics by a sensor located adjacent to the flow of grain.

A control system for controlling a motion of an auger tube of a combine harvester comprises a dynamic pre-filter, a position controller, and a speed controller. The dynamic pre-filter receives a desired position value for the auger tube and generates a filtered desired position signal which changes the desired position value from an old value to a new value over a time period. The position controller receives a first difference between the filtered desired position signal and an actual position of the auger tube. The position controller generates a desired angular speed signal that varies according to the first difference. The speed controller receives a second difference between the desired angular speed signal and an actual speed of the auger tube. The speed controller generates an actuator signal that varies according to the second difference and is received by an actuating system that moves the auger tube.