# US 10,869,422 B2 · Object detection and documentation system for tillage equipment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,869,422 B2 - Document ID: US10869422B2 - Status: Granted - Kind: B2 - Application number: 15/837,102 - Filed: 2017-12-11 - Published: 2019-06-13 - Granted: 2020-12-22 - Earliest claimed: 2017-12-11 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: Byron N. Manternach - Web page: https://patentgrep.com/patent/US10869422B2 ## CPC - A01B 79/005: {Precision agriculture} - A01B 63/008: {Vertical adjustment of tools (A01B63/10 takes precedence)} - A01B 69/003: {Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection} - A01B 76/00: Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00 - G05B 19/401: characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes (G05B19/19 takes precedence) - A01B 49/027: {with a rotating, soil working support element, e.g. a roller} - G05B 2219/45134: Marking - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A work machine, with a frame member, a ground engaging mechanism coupled to the frame member and configured to at least partially contact an underlying surface, a sensor coupled to the ground engaging mechanism, the sensor positioned to identify a displacement of the ground engaging mechanism relative to the frame, a controller in communication with the sensor, and a location system in communication with the controller. Wherein, the controller marks a location that corresponds with the position of the ground engaging mechanism, the location being identified by the location system when the sensor identifies the displacement of the ground engaging mechanism. ## Claims ### Claim 1 A work machine, comprising: a frame member; a ground engaging mechanism coupled to the frame member and configured to at least partially contact an underlying surface; a sensor coupled to the ground engaging mechanism, the sensor positioned to identify a displacement of the ground engaging mechanism relative to the frame; a controller in communication with the sensor; and a location system in communication with the controller; a user interface that includes a user input; wherein, the controller is configured to send a confirmation to the user interface when the sensor identifies the displacement of the ground engaging mechanism, and the user input must be engaged during the confirmation for the controller to mark a location of the ground engaging mechanism, the location being identified by the location system when the sensor identifies the displacement of the ground engaging mechanism. ### Claim 2 (depends on 1) The work machine of claim 1, further wherein the ground engaging mechanism is any one of a ripper, a blade, a roller, a sweep, or a tine. ### Claim 3 (depends on 1) The work machine of claim 1, further wherein the controller receives data from the sensor and the controller applies a filter to the data before identifying the displacement. ### Claim 4 (depends on 1) The work machine of claim 1, further wherein the frame member and ground engaging mechanism are part of a tillage implement coupled to a tractor. ### Claim 5 (depends on 4) The work machine of claim 4, further wherein the location system is positioned on the tractor. ### Claim 6 (depends on 5) The work machine of claim 5, further wherein the controller is configured to determine the location of the ground engaging mechanism relative to the location system before the controller marks the location. ### Claim 7 A method for identifying an obstruction in a field, comprising: providing a ground engaging mechanism, a location system, a controller, and a sensor; communicating, to the controller, a primary position of the location system; storing, in the controller, a ground engaging offset determined relative to the primary position; identifying, with the controller communicating with the sensor, when the ground engaging mechanism transitions to a contact position; and determining, with the controller, a ground engaging location based on the primary position and the ground engaging offset when the ground engaging mechanism is in the contact position; providing a user interface including a user input having an engaged position; sending an indication to the user interface when the ground engaging mechanism transitions to the contact position; storing the ground engaging location in a memory unit when the user input is transitioned to the engaged position; and removing the ground engaging location stored in the memory unit during the storing the ground engaging location step when the user input is not transitioned to the engaged position within a preset time. ### Claim 8 (depends on 7) The method of claim 7, further wherein the location system is global positioning system and the primary position is a geographic coordinate. ### Claim 9 (depends on 7) The method of claim 7, further wherein the user input has a disengaged position, the method further comprising: when the user input is transitioned to the disengaged position, removing the ground engaging location stored in the memory unit during the storing the ground engaging location step. ### Claim 10 (depends on 7) The method of claim 7, further wherein the ground engaging location is determined based on a length value and a width value relative to the location system stored in the controller. ### Claim 11 (depends on 10) The method of claim 10, further wherein the determining the ground engaging location step is executed by determining the ground engaging location based on the length value, the width value, and the primary position. ### Claim 12 A system for identifying an obstruction in an underlying surface, the system comprising: a work machine having a location system; a controller in communication with the location system to actively determine a first geographic location of the work machine; an implement coupled to the work machine and having a first ground engaging mechanism; and a first sensor coupled to the first ground engaging mechanism and in communication with the controller, the first sensor configured to identify a contact movement of the first ground engaging mechanism; a user interface that includes a user input wherein, the controller determines a second geographic location for the first ground engaging mechanism based on a distance of the first ground engaging mechanism from the location system when the first sensor identifies the contact movement; wherein, the controller sends an indication to the user interface when the first sensor identifies the contact movement, and the user input must be engaged during the indication for the controller to store the second geographic location in a memory unit. ### Claim 13 (depends on 12) The system of claim 12, further wherein the user input must be engaged during a preset time for the controller to store the second geographic location in the memory unit. ### Claim 14 (depends on 12) The system of claim 12, further wherein the user interface sends an audio or visual signal each time the contact movement is identified by the controller. ### Claim 15 (depends on 12) The system of claim 12, further comprising a second ground engaging mechanism and a second sensor, wherein the second ground engaging mechanism is located at a different location relative to the location system than the first ground engaging mechanism.