Work machine control systems to monitor ground engagement tools and map obstacles
AssigneeDeere & Company
InventorsAdam D. Sporrer, Ricky B. Theilen, Jeremy D. Krantz, Lucas B. Larsen
Life of this patent
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Abstract
Work machines, control systems for work machines, and methods of operating work machines are disclosed. A work machine includes a frame structure, a work implement, and a control system. The work implement is coupled to the frame structure and includes at least one ground engagement tool that is configured for movement in response to interaction with an underlying surface in use of the use work machine. The control system is coupled to the frame structure and includes a sensor mounted to the at least one ground engagement tool and a controller communicatively coupled to the sensor.
Claims15
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.
A control system mounted on a work machine including a frame structure and a work implement coupled to the frame structure that has a plurality of ground engagement tools each configured for movement in response to interaction with an underlying surface in use of the work machine, the control system comprising:
- a plurality of movement sensors each mounted on a corresponding one of the plurality of ground engagement tools, wherein each of the plurality of movement sensors is configured to provide sensor input indicative of a characteristic of movement of a corresponding ground engagement tool in use of the work machine;
- at least one load sensor configured to provide load sensor input indicative of a tow load associated with the work implement in use of the work machine;
- and
- a controller communicatively coupled to each of the plurality of movement sensors and the at least one load sensor, 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 sensor input provided by the plurality of sensors that is indicative of characteristics of movement of the plurality of ground engagement tools in use of the work machine,
- wherein 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.
A method of operating a work machine including a frame structure and a work implement coupled to the frame structure that has a plurality of ground engagement tools each configured for movement in response to interaction with an underlying surface in use of the work machine, the method comprising:
- receiving, by a controller of the work machine, sensor input provided by a plurality of movement sensors each mounted on a corresponding one of the plurality of ground engagement tools that is indicative of a characteristic of movement of a corresponding ground engagement tool in use of the work machine;
- receiving, by the controller, load sensor input provided by at least one load sensor that is indicative of a tow load associated with the work implement in use of the work machine;
- determining, by the controller, 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 that is indicative of characteristics of movement of the plurality of ground engagement tools in use of the work machine;
- receiving, by the controller, one or more external environment settings input by a user;
- and
- calculating, by the controller, 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 and the load sensor input from the at least one load sensor and on the one or more external environment settings.
Dependencies are inferred from the claim text.