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. 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.
Claims20
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 to extend into the ground in use of the work machine;
- and
- a control system coupled to the frame structure that includes a plurality of depth sensors each mounted to a corresponding one of the plurality of ground engagement tools and each configured to provide sensor input indicative of a penetration depth of the corresponding ground engagement tool into the ground in use of the work machine, a controller communicatively coupled to each of the plurality of depth 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 depth sensors and the load sensor input from the at least one load sensor and to calculate at least one ratio of the tow load associated with the work implement to a position of at least one ground engagement tool relative to the ground based at least partially on the sensor input from the plurality of depth sensors and on the load sensor input from the at least one load sensor.
A control system mounted on a work machine including a frame structure and a work implement coupled to the frame structure that includes a plurality of ground engagement tools each configured to extend into the ground in use of the work machine, the control system comprising:
- a plurality of depth sensors each mounted to a corresponding one of the plurality of ground engagement tools and each configured to provide sensor input indicative of a penetration depth of the corresponding ground engagement tool into the ground in use of the work machine;
- a controller communicatively coupled to each of the plurality of depth 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 calculate at least one ratio of the tow load associated with the work implement to a position of at least one ground engagement tool relative to the ground.
A method of operating a work machine including a frame structure and a work implement coupled to the frame structure that includes a plurality of ground engagement tools each configured to extend into the ground in use of the work machine, the method comprising:
- receiving, by a controller of the work machine, sensor input provided by a plurality of depth sensors each mounted to a corresponding one of the plurality of ground engagement tools that is indicative of a penetration depth of the corresponding ground engagement tool into the ground 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;
- and
- calculating, by the controller, at least one ratio of the tow load associated with the work implement to a position of at least one ground engagement tool relative to the ground based at least partially on the sensor input from the plurality of depth sensors and the load sensor input from the at least one load sensor.
Dependencies are inferred from the claim text.