US 12,114,587 B2
Work machine control systems to monitor ground engagement tools and map obstacles
Adam D. Sporrer, Huxley, IA (US); Ricky B. Theilen, Bettendorf, IA (US); Jeremy D. Krantz, Polk City, IA (US); and Lucas B. Larsen, Ankeny, IA (US)
Assigned to DEERE & COMPANY, Moline, IL (US)
Filed by DEERE & COMPANY, Moline, IL (US)
Filed on Jul. 1, 2020, as Appl. No. 16/918,056.
Claims priority of provisional application 62/928,507, filed on Oct. 31, 2019.
Prior Publication US 2021/0132573 A1, May 6, 2021
Int. Cl. A01B 79/00 (2006.01); A01B 76/00 (2006.01)
CPC A01B 79/005 (2013.01) [A01B 76/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A work machine comprising:
a frame structure;
a work implement coupled to the frame structure that includes a plurality of ground engagement tools, wherein each of the plurality of ground engagement tools is configured for movement in response to interaction with an underlying surface in use of the work machine; and
a control system coupled to the frame structure that includes a plurality of sensors each mounted to a corresponding one of the ground engagement tools and a controller communicatively coupled to the plurality of sensors, wherein each of the plurality of sensors is configured to provide sensor input indicative of a characteristic of movement of the corresponding ground engagement tool in use of the work machine, wherein the controller includes memory having instructions stored therein that are executable by a processor to cause the processor to receive the sensor input from the plurality of sensors, to identify the presence of one or more obstacles based on the sensor input, and to selectively map, with the aid of a location system, a location of one or more obstacles in response to an identification that one or more obstacles are present to generate event data for a particular field, and wherein the instructions stored in the memory are executable by the processor to cause the processor to determine, based on the sensor input, movement of the ground engagement tools in response to an identification that one or more obstacles are present, and to map the location of the one or more present obstacles in response to a determination of a lack of movement of at least one of the plurality of ground engagement tools,
wherein the instructions stored in the memory are executable by the processor to cause the processor to compare a previous position of one or more obstacles associated with event history data to a current position of one or more detected obstacles associated with the sensor input and to map a location of the one or more detected obstacles in response to a determination that the previous position is not proximate to the current position.