Machine-learned tillage shank malfunction in an autonomous farming vehicle

A detection system for an autonomous farming vehicle including a hardware processor and a non-transitory computer-readable medium storing executable instructions that, when executed by the hardware processor, cause the detection system to perform steps comprising:

• accessing, in real-time, distance sensor data from a distance sensor coupled to a first tilling shank of a set of tilling shanks as the autonomous farming vehicle pulls the set of tilling shanks through earth while performing an autonomous routine, the distance sensor configured to indicate a distance between the first tilling shank and a second tilling shank of the set of tilling shanks;
• determining that a measure of a signal received by the distance sensor is below a threshold level, indicative of a plug in between the first tilling shank and the second tilling shank;
• determining a location of the plug among the set of tilling shanks based on an identifier associated with the distance sensor coupled to the first tilling shank;
• performing a modified autonomous routine of the autonomous farming vehicle to remove the plug from the set of tilling shanks at the determined location;
• accessing image data as the autonomous farming vehicle pulls the set of tilling shanks through earth while performing the modified autonomous routine;
• and
• verifying, using the image data, that the plug is absent from the set of tilling shanks at the determined location.

A non-transitory computer readable storage medium storing executable instructions that, when executed by one or more processors, cause the one or more processors to perform steps comprising:

• accessing, in real-time, distance sensor data from a distance sensor coupled to a first tilling shank of a set of tilling shanks of an autonomous farming vehicle as the autonomous farming vehicle pulls the set of tilling shanks through earth while performing an autonomous routine, the distance sensor configured to indicate a distance between the first tilling shank and a second tilling shank of the set of tilling shanks;
• determining that a measure of a signal received by the distance sensor is below a threshold level, indicative of a plug in between the first tilling shank and the second tilling shank;
• determining a location of the plug among the set of tilling shanks based on an identifier associated with the distance sensor coupled to the first tilling shank;
• performing a modified autonomous routine of the autonomous farming vehicle to remove the plug from the set of tilling shanks at the determined location;
• accessing image data as the autonomous farming vehicle pulls the set of tilling shanks through earth while performing the modified autonomous routine;
• and
• verifying, using the image data, that the plug is absent from the set of tilling shanks at the determined location.