Machine-Learned Tillage Shank Malfunction in an Autonomous Farming Vehicle

A method of detecting plugs between tilling shanks by an autonomous farming vehicle, 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.