US 12,340,637 B2
Implement management system for implement wear detection and estimation
Curtis A. Maeder, Johnston, IA (US); Tyler D. Schleicher, Ankeny, IA (US); and Noel W. Anderson, Fargo, ND (US)
Assigned to Deere & Company, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Jun. 16, 2021, as Appl. No. 17/349,635.
Prior Publication US 2022/0406104 A1, Dec. 22, 2022
Int. Cl. G07C 5/08 (2006.01); A01B 79/00 (2006.01); G05D 1/00 (2006.01); G06F 18/214 (2023.01); G06N 7/00 (2023.01); G06N 20/00 (2019.01); G06V 20/13 (2022.01)
CPC G07C 5/0825 (2013.01) [A01B 79/005 (2013.01); G05D 1/0094 (2013.01); G06F 18/214 (2023.01); G06N 7/00 (2013.01); G06N 20/00 (2019.01); G06V 20/13 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving operational information comprising one or more of a predefined routine of a vehicle pulling an implement through soil, a plurality of vehicle worksite parameters, a plurality of machinery state parameters, or a plurality of machinery trajectory parameters;
determining a current measured orientation vector of the implement using a plurality of sensors coupled to the vehicle, the current measured orientation vector indicative of a current angle of pull and a current magnitude of pull of the implement on the vehicle as measured using the plurality of sensors;
training an orientation prediction model using a training set comprising empirical soil states and associated sets of empirical operational information, each set of empirical operation information associated with: (i) an empirical angle and an empirical magnitude of pull by an implement on a vehicle that occurred under conditions characterized by the set of empirical operation information, and (ii) a label indicating a functioning implement or vehicle, or a malfunctioning implement or vehicle;
accessing information representative of a soil state obtained based on images of the soil captured by the sensors of the vehicle pulling the implement through the soil;
applying the orientation prediction model to the operational information and to the information representative of the soil state to determine a current expected orientation vector of the implement indicative of a current expected angle of pull and a current expected magnitude of pull of the implement on the vehicle as output from the orientation prediction model based on the received operational information and the information representative of the soil state; and
in response to a difference between the current measured orientation vector and the current expected orientation vector exceeding at least one of a threshold angle and a threshold magnitude, modifying an operating mode of the vehicle.