US 11,805,721 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. 16/918,078.
Claims priority of provisional application 62/928,501, filed on Oct. 31, 2019.
Prior Publication US 2021/0134090 A1, May 6, 2021
Int. Cl. A01B 79/00 (2006.01); A01B 63/00 (2006.01); A01B 76/00 (2006.01); B60Q 9/00 (2006.01); G07C 5/08 (2006.01)
CPC A01B 79/005 (2013.01) [A01B 63/008 (2013.01); A01B 76/00 (2013.01); A01B 79/00 (2013.01); B60Q 9/00 (2013.01); G07C 5/0841 (2013.01)] 15 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 each 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 movement sensors each mounted to a corresponding one of the plurality of ground engagement tools and each configured to provide sensor input indicative of a characteristic of movement of the corresponding ground engagement tool in use of the work machine, a controller communicatively coupled to each of the plurality of movement sensors, and at least one load sensor communicatively coupled to the controller and configured to provide load sensor input indicative of a tow load associated with the work implement 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 movement sensors and to determine that the plurality of ground engagement tools is in contact with the ground in response to receipt of the sensor input provided by the plurality of movement sensors, and
the instructions stored in the memory are executable by the processor to cause the processor to receive the sensor input from the plurality of movement sensors and the load sensor input from the at least one load sensor, to receive one or more external environment settings input by a user, and to calculate at least one ratio of the tow load associated with the work implement to the position of at least one ground engagement tool relative to the underlying surface based at least partially on the sensor input from the plurality of movement sensors, on the load sensor input from the at least one load sensor, and on the one or more external environment settings.