A dual conveyor assembly for a windrower includes upper and lower conveyors. Each conveyor includes an endless conveyor element and rotatable supports spaced along a longitudinal conveyor path and entrained by the endless conveyor element. The endless conveyor elements define vertically spaced opposed runs that define the longitudinal conveyor path therebetween. The opposed runs are operable to be driven together to move a flow of severed plant material along the path. At least one of the opposed runs is shiftable relative to the other opposed run in an upright direction, while the runs are driven together, such that the opposed runs remain in moving engagement with the flow of severed plant material as the amount of severed plant material passing between the opposed runs varies.

A dual conveyor assembly for a windrower includes upper and lower conveyors. Each conveyor includes an endless conveyor element and rotatable supports spaced along a longitudinal conveyor path and entrained by the endless conveyor element. The endless conveyor elements define vertically spaced opposed runs that define the longitudinal conveyor path therebetween. The opposed runs are operable to be driven together to move a flow of severed plant material along the path. At least one of the opposed runs is shiftable relative to the other opposed run in an upright direction, while the runs are driven together, such that the opposed runs remain in moving engagement with the flow of severed plant material as the amount of severed plant material passing between the opposed runs varies.

An unloading automation system for unloading of harvested crop from an agricultural vehicle, such as a combine harvester, into a container. The container may be part of a vehicle container combination that is arranged to maneuver next to the agricultural vehicle in the field. The unloading automation system includes a filling degree measurement system and position measurement system, wherein the position measurement is based on UWB technology. This non-optical technology improves measurement results in dusty environments. The filing degree measurement system and the position measurement system have at least one UWB tag or base station in common.

A fill control system on a harvester detects that a receiving vehicle is to be repositioned relative to the harvester. The fill control system generates a signal indicative of how the receiving vehicle is to be repositioned relative to the harvester. The harvester sends the signal to a mobile device that is remote from the harvester. A mobile device receives an indication from a fill control system on a harvester that indicates how a receiving vehicle is to be repositioned relative to the harvester. The mobile device controls a user interface mechanism to generate an output indicating how the receiving vehicle is to be repositioned relative to the harvester.

A fill control system on a harvester detects that a receiving vehicle is to be repositioned relative to the harvester. The fill control system generates a signal indicative of how the receiving vehicle is to be repositioned relative to the harvester. The harvester sends the signal to a mobile device that is remote from the harvester. A mobile device receives an indication from a fill control system on a harvester that indicates how a receiving vehicle is to be repositioned relative to the harvester. The mobile device controls a user interface mechanism to generate an output indicating how the receiving vehicle is to be repositioned relative to the harvester.

A harvesting machine is disclosed along with a method of operation. The harvesting machine includes a frame having a flail cutter mounted on a first end of the frame. The flail cutter can cut the stems of growing plants. A housing surrounding a portion of the flail cutter for directing the cut plants rearward. An idler roller is positioned rearward of the flail cutter. First and second moisture removal mechanisms are positioned downstream of the cutting mechanism, and each includes a suction roll and a press roll. A moving belt forms a closed loop around the idler roller and the pair of suction and press rolls, and has a plurality of apertures formed therethrough. The moving belt forms first and second nips between each pair of suction and press rolls for squeezing moisture out of the cut stems as the stems are routed therebetween.

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.

A method of maintaining vehicle formation includes receiving a desired formation distance between a lead vehicle and a follower vehicle; receiving a pre-planned path for the follower vehicle; and defining a dynamic zone around a current position of the lead vehicle. The dynamic zone has a boundary characterized by a first radius from the current position of the lead vehicle. The first radius can be substantially equal to the desired formation distance. The method further includes determining a next speed of the follower vehicle based on a current position of the follower vehicle with respect to the boundary of the dynamic zone; determining a commanded curvature of the follower vehicle based on the current position of the follower vehicle with respect to the pre-planned path; and outputting the next speed and the commanded curvature to a control system of the follower vehicle for navigation of the follower vehicle.

A combine harvester includes a crop processor, a grain tank, an unloading conveyor, and an electromagnetic detecting and ranging module positioned at or above a top of the grain tank for detecting a fill level of the grain tank and the location of a receiving vehicle relative to the combine harvester. One or more computing devices of the combine harvester are configured for receiving data from the electromagnetic detecting and ranging module, the data indicating the fill level of the grain tank and the location of the receiving vehicle relative to the combine harvester, and generating automated navigation data based on the data received from the electromagnetic detecting and ranging module, the automated navigation data to automatically control operation of at least one of the combine harvester and the receiving vehicle to align the unloading conveyor with the grain bin of the receiving vehicle.