Autonomous filling synchronization for moving agricultural sprayers

Abstract

A fill synchronization system and method for synchronizing an agricultural sprayer and an autonomous fill machine to supply agricultural product to the agricultural sprayer, while both the agricultural sprayer and the autonomous fill machine are moving. In some situations, this filling operation occurs in an agricultural field while the agricultural sprayer is conducting spraying operations. Synchronizing includes driving the autonomous fill machine to the agricultural sprayer and one or more of corresponding velocities of the agricultural sprayer and the autonomous fill machine and aligning a portion of the vehicles. The system and method include a docking controller that both aligns and couples docking mechanisms on the autonomous fill machine and the agricultural sprayer such that they are in fluid communication. In some examples, the docking mechanisms includes an articulating arm controlled by the docking controller to guide the docking of the agricultural sprayer and the autonomous fill machine. 20 25 20 30 23 29 A pr 2 02 5 A B S T R A C T 2 0 2 5 2 0 3 0 2 3 2 9 2 0 2 5 A p r A B S T R A C T 2 0 2 5 2 0 3 0 2 3 2 9 2 0 2 5 A p r 10 0 10 1 10 2 10 6 11 613 0 13 3 11 0 11 2 11 4 10 6 10 2 10 8 10 8 10 4 10 3 12 0 13 5 F IG . 1 1 / 10 11 8 14 0 100 130 118 116 133 140 110112 114 101 106 102 106 108 102 104 108 120 103 135 FIG. 1 20 25 20 30 23 29 A pr 2 02 5 2 0 2 5 2 0 3 0 2 3 2 9 A p r 2 0 2 5 2 0 2 5 2 0 3 0 2 3 2 9 A p r 2 0 2 5

Description

[0091] In Aspect 14, the subject matter of Aspect 13 includes, wherein the coupling system further comprises a docking system having the autonomous fill machine docking mechanism on the autonomous fill machine and the agricultural sprayer docking mechanism on the agricultural sprayer such that the autonomous fill machine docking mechanism and the agricultural sprayer docking mechanism are in fluid communication to allow the transfer of the agricultural product from the autonomous fill machine to the agricultural sprayer.

[0092] In Aspect 15, the subject matter of Aspect 14 includes, wherein the fill docking mechanism is a socket and the agricultural sprayer docking mechanism is a plug such that the plug inserts into the socket, and wherein one or more of the fill docking mechanism and the agricultural sprayer docking mechanism uses one or more magnets to guide the plug into the socket.

[0093] In Aspect 16, the subject matter of Aspects 14-15 includes, wherein the fill docking mechanism is a socket and the agricultural sprayer docking mechanism is a plug such that the plug inserts into the socket, and wherein the fill docking mechanism further comprises a basket such that the plug is guided into the socket by the basket and the plug and socket engage, and wherein the fill docking mechanism further comprises a supply hose supported by an articulating arm, and wherein the basket is attached to an end of the supply hose, and wherein a docking controller controls the articulating arm to guide the plug into the basket.

[0094] In Aspect 17, the subject matter of Aspects 14-16 includes, wherein the fill docking mechanism is a socket and the agricultural sprayer docking mechanism is a plug such that the plug inserts into the socket, wherein one or more of the fill docking mechanism and the agricultural sprayer docking mechanism is a laser-guided docking system having a laser mounted 2025203023   22 Sep 2026 on either the fill docking mechanism or the agricultural sprayer docking mechanism and a reflector mounted on the other of the fill docking mechanism or the agricultural sprayer docking mechanism to guide the plug into the socket.

[0095] In Aspect 18, the subject matter of Aspects 14-17 includes, wherein the fill docking mechanism is a socket and the agricultural sprayer docking mechanism is a plug such that the plug inserts into the socket, and wherein one or more of the fill docking mechanism and the agricultural sprayer docking mechanism is a camera-guided docking system having a camera mounted on either the fill docking mechanism or the agricultural sprayer docking mechanism and a target pattern mounted on the other of the fill docking mechanism or the agricultural sprayer docking mechanism to guide the plug into the socket.

[0096] In Aspect 19, the subject matter of Aspects 14-18 includes, a decoupling system that disengages the autonomous fill machine from the agricultural sprayer by decoupling the fill docking mechanism and the agricultural sprayer docking mechanism, and wherein the decoupling system disengages the fill docking mechanism and the agricultural sprayer docking mechanism whenever the agricultural sprayer makes a turn in the agricultural field.

[0097] Aspect 20 is a non-transitory computer-readable storage medium storing instructions that, when executed by a computer, cause the computer to perform operations for synchronizing the filling of an agricultural sprayer with agricultural product, the operations comprising: autonomously driving an autonomous fill machine to the agricultural sprayer in an agricultural field, wherein the autonomous fill machine is moving in the agricultural field and the agricultural sprayer is moving in the agricultural field; aligning a fill docking mechanism on the autonomous fill machine to an agricultural sprayer docking mechanism on the agricultural sprayer while both the autonomous fill machine and the agricultural sprayer are moving in the agricultural field; coupling the fill docking mechanism and the agricultural sprayer docking mechanism to be in fluid communication; and transferring the agricultural product from the autonomous fill machine to the agricultural sprayer, while both the autonomous fill machine and the agricultural sprayer are moving in the agricultural field, to fill the agricultural sprayer with the agricultural product. 2025203023   22 Sep 2026

[0098] Aspect 21 is at least one machine-readable medium including instructions that, when executed by processing circuitry, cause the processing circuitry to perform operations to implement of any of Aspects 1-20.

[0099] Aspect 22 is an apparatus comprising means to implement of any of Aspects 1-20.

[00100] Aspect 23 is a system to implement of any of Aspects 1-20.

[00101] Aspect 24 is a method to implement of any of Aspects 1-20.

[00102] In Aspect 25, the subject matter of Aspect 1 includes, decoupling the fill docking mechanism from the agricultural sprayer docking mechanism.

[00103] In Aspect 26, the subject matter of Aspect 25 includes, wherein decoupling further comprises: ceasing the transfer of the agricultural product; and autonomously driving one of: (a) the autonomous fill machine away from the agricultural sprayer; (b) the agricultural sprayer away from the autonomous fill machine; or (c) both the autonomous fill machine and the agricultural sprayer away from each other.

[00104] In Aspect 27, the subject matter of Aspects 1, 25, and 26 includes, wherein at least some of the transferring of the agricultural product from the autonomous fill machine to the agricultural sprayer occurs while the agricultural sprayer is spraying the agricultural field.

[00105] In Aspect 28, the subject matter of Aspects 1 and 25-27 includes, wherein coupling the fill docking mechanism with the agricultural sprayer docking mechanism occurs when the agricultural sprayer is moving in a substantially straight line in the agricultural field.

[00106] In Aspect 29, the subject matter of Aspect 28 includes, decoupling the fill docking mechanism from the agricultural sprayer docking mechanism whenever the agricultural sprayer is turning to change direction in the agricultural field.

[00107] In Aspect 30, the subject matter of Aspects 1 and 25-29 includes, wherein matching corresponding velocities further comprises having a speed and a direction of the autonomous fill 2025203023   22 Sep 2026 machine and a speed and a direction of the agricultural sprayer be substantially similar.

[00108] In Aspect 31, the subject matter of Aspects 1 and 25-30 includes, wherein the fill docking mechanism includes a flexible hose and a basket at one end of the flexible hose and the agricultural sprayer docking mechanism includes a probe.

[00109] In Aspect 32, the subject matter of Aspect 31 includes, wherein aligning the fill docking mechanism with the agricultural sprayer docking mechanism further comprises guiding the probe into the basket, and wherein coupling the fill docking mechanism with the agricultural sprayer docking mechanism further comprises inserting the probe into a connector on the basket to allow the fluid communication.

[00110] In Aspect 33, the subject matter of Aspects 1 and 25-32 includes, wherein the agricultural sprayer is being driven by a human operator.

[00111] In Aspect 34, the subject matter of Aspects 1 and 25-33 includes, wherein the agricultural sprayer is driven autonomously.

[00112] In Aspect 35, the subject matter of Aspects 1 and 25-11 includes, wherein the agricultural sprayer communicates its location to the autonomous fill machine.

[00113] In Aspect 36, the subject matter of Aspect 35 includes, wherein the global positioning system (GPS) is used to communicate the location of the agricultural sprayer to the autonomous fill machine.

[00114] In Aspect 37, the subject matter of Aspects 35-36 includes, wherein real-time kinematic (RTK) positioning is used to communicate the location of the agricultural sprayer to the autonomous fill machine.

[00115] In Aspect 38, the subject matter of Aspects 1 and 25-37 includes, filling the autonomous fill machine by maneuvering the autonomous fill machine to a tender vehicle.

[00116] In Aspect 39, the subject matter of Aspects 1 and 25-38includes, filling the autonomous fill machine by maneuvering the autonomous fill machine to a stationary tank. 32 2025203023   22 Sep 2026

[00117] In Aspect 40, the subject matter of Aspects 1 and 25-39 includes, notifying the autonomous fill machine that the agricultural sprayer needs additional agricultural product.

[00118] In Aspect 41, the subject matter of Aspect 40 includes, monitoring a flow rate usage of the agricultural product by the agricultural sprayer and a fill level of the sprayer reservoir; predicting, based on the flow rate and the fill level, usage of the agricultural sprayer, that the agricultural sprayer needs filling; and calling for the autonomous fill machine to fill the agricultural sprayer.

[00119] In Aspect 42, the subject matter of Aspects 40-41 includes, having the autonomous fill machine monitor a fill level of the sprayer reservoir in the agricultural sprayer; predicting, based on the fill level of the sprayer reservoir, that the agricultural sprayer needs filling; and responding with the autonomous fill machine to fill the agricultural sprayer.

[00120] In Aspect 43, the subject matter of Aspects 40-42 includes, consulting a spray path plan, which is a map of a path the agricultural sprayer will follow to spray the agricultural field, to predict a location in the agricultural field where the agricultural sprayer will need filling.

[00121] In Aspect 44, the subject matter of Aspect 43 includes, wherein the location in the agricultural field is near a beginning of the agricultural sprayer moving in a substantially straight line in the agricultural field.

[00122] In Aspect 45, the subject matter of Aspect 14 includes, wherein the fill docking mechanism is a socket and the agricultural sprayer docking mechanism is a plug such that the plug inserts into the socket.

[00123] In Aspect 46, the subject matter of Aspect 45 includes, wherein one or more of the fill docking mechanism and the agricultural sprayer docking mechanism the docking system uses one or more magnets to guide the plug into the socket.

[00124] In Aspect 47, the subject matter of Aspects 45-46 includes, wherein the fill docking mechanism further comprises a basket such that the plug is guided into the socket by the basket 2025203023   22 Sep 2026 and the plug and socket lock when engaged.

[00125] In Aspect 48, the subject matter of Aspect 47 includes, wherein the fill docking mechanism further comprises a supply hose supported by an articulating arm, and wherein the basket is attached to an end of the supply hose, and wherein a docking controller controls the articulating arm to guide the plug into the basket.

[00126] In Aspect 49, the subject matter of Aspects 45-48 includes, wherein one or more of the fill docking mechanism and the agricultural sprayer docking mechanism is a laser-guided docking system having a laser mounted on either the fill docking mechanism or the agricultural sprayer docking mechanism and a reflector mounted on the other of the fill docking mechanism or the agricultural sprayer docking mechanism to guide the plug into the socket.

[00127] In Aspect 50, the subject matter of Aspects 45-49 includes, wherein one or more of the fill docking mechanism and the agricultural sprayer docking mechanism is a camera-guided docking system having a camera mounted on either the fill docking mechanism or the agricultural sprayer docking mechanism and a target pattern mounted on the other of the fill docking mechanism or the agricultural sprayer docking mechanism to guide the plug into the socket.

[00128] In Aspect 51, the subject matter of Aspects 14 and 45-50 includes a decoupling system that disengages the autonomous fill machine from the agricultural sprayer by decoupling the fill docking mechanism and the agricultural sprayer docking mechanism.

[00129] In Aspect 52, the subject matter of Aspect 51 includes, wherein the decoupling system disengages the fill docking mechanism and the agricultural sprayer docking mechanism whenever the agricultural sprayer makes a turn in the agricultural field.

[00130] In Aspect 53, the subject matter of Aspects 13, 14, and 45-52 includes a notification system for wirelessly notifying the autonomous fill machine that the agricultural sprayer needs additional agricultural product.

[00131] In Aspect 54, the subject matter of Aspects 13, 14, and 45-53 includes a navigation 2025203023   22 Sep 2026 system for communicating a position of the agricultural sprayer in the agricultural field to the autonomous fill machine.

[00132] In Aspect 55, the subject matter of Aspect 54 includes, wherein the navigation system uses real-time kinematic (RTK) positioning.

[00133] In Aspect 56, the subject matter of Aspects 54-55 includes, wherein the navigation system uses a global positioning system (GPS).

[00134] In Aspect 57, the subject matter of Aspect 20 includes, wherein the coupling of the fill docking mechanism and the agricultural sprayer docking mechanism occurs while the agricultural sprayer is traveling in substantially straight line in the agricultural field.

[00135] In Aspect 58, the subject matter of Aspect 57 includes, ceasing the transfer of agricultural product and decoupling the autonomous fill machine docking mechanism and the agricultural sprayer docking mechanism before the agricultural sprayer enters a turn in the agricultural field.

[00136] In Aspect 59, the subject matter of Aspects 20 and 57-58 includes, wherein the fill docking mechanism comprises a flexible hose with a socket on one end, and wherein the flexible hose is attached to an articulating arm, and wherein the agricultural sprayer docking mechanism comprises a plug such that the plug fits into the socket; and wherein docking the fill docking mechanism and the agricultural sprayer docking mechanism further comprises guiding the plug into the socket using the articulating arm.

[00137] In Aspect 60, the subject matter of Aspect 59 includes, using a laser to guide the plug into the socket.

[00138] In Aspect 61, the subject matter of Aspects 59-60 includes, using a camara to guide the plug into the socket.

[00139] In Aspect 62, the subject matter of Aspects 20 and 57-61 includes, causing the agricultural sprayer to communicate its location in the agricultural field to the autonomous fill 2025203023   22 Sep 2026 machine.

[00140] In Aspect 63, the subject matter of Example 62 includes, using a global positioning system (GPS) to communicate the location of the agricultural sprayer to the autonomous fill machine.

[00141] In Aspect 64, the subject matter of Aspects 62-63 includes, using real-time kinematic (RTK) positioning to communicate the location of the agricultural sprayer to the autonomous fill machine.

[00142] In Aspect 65, the subject matter of Aspects 62-64 includes, autonomously driving the autonomous fill machine to a tender vehicle to fill the autonomous fill machine with additional agricultural product.

[00143] In Aspect 66, the subject matter of Aspects 62-65 includes, autonomously driving the autonomous fill machine to a stationary tank to fill the autonomous fill machine with additional agricultural product.

[00144] Aspect 67 is at least one machine-readable medium including instructions that, when executed by processing circuitry, cause the processing circuitry to perform operations to implement of any of Aspects 1, 13, 20 and 25-66.

[00145] Aspect 68 is an apparatus comprising means to implement of any of Aspects 1, 13, 20 and 25-66.

[00146] In Aspect 69 is a system to implement of any of Aspects 1, 13, 20 and 25-66.

[00147] Aspect 70 is a method to implement of any of Aspects 1, 13, 20 and 25-66.

[00148] Each of the non-limiting aspects above can stand on its own or can be combined in various permutations or combinations with one or more of the other aspects or other subject matter described in this document. 2025203023   22 Sep 2026

[00149] The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific implementations in which the described systems and methods can be practiced. These implementations are also referred to generally as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only those elements shown or described are provided. Moreover, the present inventors also contemplate examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein.

[00150] In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls.

[00151] In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following aspects, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in an aspect are still deemed to fall within the scope of that aspect. Moreover, in the following aspects, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.

[00152] Method examples described herein can be machine or computer-implemented at least in part. Some examples can include a computer-readable medium or machine-readable medium encoded with instructions operable to configure an electronic device to perform methods as described in the above examples. An implementation of such methods can include code, such as microcode, assembly language code, a higher-level language code, or the like. Such code can 37 2025203023   22 Sep 2026 include computer readable instructions for performing various methods. The code can form portions of computer program products. Further, in an example, the code can be tangibly stored on one or more volatile, non-transitory, or non-volatile tangible computer-readable media, such as during execution or at other times. Examples of these tangible computer-readable media can include, but are not limited to, hard disks, removable magnetic disks, removable optical disks (e.g., compact disks and digital video disks), magnetic cassettes, memory cards or sticks, random access memories (RAMs), read only memories (ROMs), and the like.

[00153] It is to be understood that the steps of the methods described herein are performed by the controller upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the controller described herein, such as the methods described herein, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller loads the software code or instructions via a direct interface with the computer readable medium or via a wired and / or wireless network. Upon loading and executing such software code or instructions by the controller, the controller can perform any of the functionality of the controller described herein, including any steps of the methods described herein.

[00154] The term "software code" or "code" used herein refers to any instructions or set of instructions that influence the operation of a computer or controller. They can exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer's central processing unit or by a controller, a human-understandable form, such as source code, which can be compiled in order to be executed by a computer's central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term "software code" or "code" also includes any human-understandable computer instructions or set of instructions, e.g., a script, that can be executed on the fly with the aid of an interpreter executed by a computer's central processing unit or by a controller. 2025203023   22 Sep 2026

[00155] The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) can be used in combination with each other. Other implementations can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the aspects. Also, in the above Detailed Description, various features can be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter can lie in less than all features of a particular disclosed implementation. Thus, the following aspects are hereby incorporated into the Detailed Description as examples or implementations, with each aspect standing on its own as a separate implementation, and it is contemplated that such implementations can be combined with each other in various combinations or permutations.

Claims

1. A method of filling an agricultural sprayer comprising:autonomously driving an autonomous fill machine toward the agricultural sprayer, wherein autonomously driving includes:the agricultural sprayer is moving in an agricultural field; andthe autonomous fill machine is moving in the agricultural field;synchronizing the agricultural sprayer and the autonomous fill machine, wherein synchronizing includes:corresponding velocities of the agricultural sprayer and the autonomous fill machine; andaligning a fill docking mechanism of the autonomous fill machine and an agricultural sprayer docking mechanism of the agricultural sprayer, one or more of the fill docking mechanism or the agricultural sprayer docking mechanism having an articulating arm;controlling the articulating arm to control relative movement of one or more of the fill docking mechanism or the agricultural sprayer docking mechanism to maintain alignment of the fill docking mechanism and the agricultural sprayer docking mechanism while both the autonomous fill machine and the agricultural sprayer are moving;coupling the fill docking mechanism with the agricultural sprayer docking mechanism so that the fill docking mechanism and the agricultural sprayer docking mechanism are in fluid communication; andin response to the fill docking mechanism and the agricultural sprayer docking mechanism being in fluid communication, transferring an agricultural product from the autonomous fill machine to the agricultural sprayer across the fill docking mechanism and the agricultural sprayer docking mechanism, respectively, while both the autonomous fill machine and the agricultural sprayer are moving, to fill a sprayer reservoir of the agricultural sprayer with the agricultural product.2025203023   22 Sep 20262. The method of claim 1, further comprising decoupling the fill docking mechanism from the agricultural sprayer docking mechanism, wherein decoupling further comprisesceasing the transfer of the agricultural product; andautonomously driving one of: (a) the autonomous fill machine away from the agricultural sprayer; (b) the agricultural sprayer away from the autonomous fill machine; or (c) both the autonomous fill machine and the agricultural sprayer away from each other.

3. The method of claim 1 or claim 2, wherein at least some of the transferring of the agricultural product from the autonomous fill machine to the agricultural sprayer occurs while the agricultural sprayer is spraying the agricultural field.

4. The method of claim 1, wherein coupling the fill docking mechanism with the agricultural sprayer docking mechanism occurs when the agricultural sprayer is moving in a substantially straight line in the agricultural field, and further comprising decoupling the fill docking mechanism from the agricultural sprayer docking mechanism whenever the agricultural sprayer is turning to change direction in the agricultural field.

5. The method of any one of the preceding claims, wherein the fill docking mechanism includes a flexible hose and a basket at one end of the flexible hose and the agricultural sprayer docking mechanism includes a probe, and wherein aligning the fill docking mechanism with the agricultural sprayer docking mechanism further comprises guiding the probe into the basket, and wherein coupling the fill docking mechanism with the agricultural sprayer docking mechanism further comprises inserting the probe into a connector on the basket to allow the fluid communication.

6. The method of any one of the preceding claims, wherein the agricultural sprayer communicates its location to the autonomous fill machine using at least one of the following to communicate the location of the agricultural sprayer to the autonomous fill machine: (a) global positioning system (GPS); and (b) real-time kinematic (RTK) positioning.2025203023   22 Sep 20267. The method of any one of the preceding claims, further comprising filling the autonomous fill machine by maneuvering the autonomous fill machine to a tender vehicle.

8. The method of any one of claims 1 to 6, further comprising filling the autonomous fill machine by maneuvering the autonomous fill machine to a stationary tank.

9. The method of any one of the preceding claims, further comprising notifying the autonomous fill machine that the agricultural sprayer needs additional agricultural product.

10. The method of claim 9, further comprising:monitoring a flow rate of the agricultural product by the agricultural sprayer and a fill level of the sprayer reservoir;predicting, based on the flow rate and the fill level, that the agricultural sprayer needs filling; andcalling for the autonomous fill machine to fill the agricultural sprayer.

11. The method of claim 9, further comprising:having the autonomous fill machine monitor a fill level of the sprayer reservoir in the agricultural sprayer;predicting, based on the fill level of the sprayer reservoir, that the agricultural sprayer needs filling; andresponding with the autonomous fill machine to fill the agricultural sprayer.

12. The method of any one of claims 9 to 11, further comprising consulting a spray path plan, which is a map of a path the agricultural sprayer will follow to spray the agricultural field, to predict a location in the agricultural field where the agricultural sprayer will need filling.

13. A fill synchronization system for filling an agricultural sprayer, comprising:422025203023   22 Sep 2026an autonomous fill machine containing an agricultural product, the autonomous fill machine further comprising:a steering assembly for steering the autonomous fill machine;an engine to provide propulsion for the autonomous fill machine;an electronic control unit in communication with the steering assembly and the engine for autonomous driving the autonomous fill machine, wherein both the agricultural sprayer and the autonomous fill machine are moving in the agricultural field, wherein a speed and a direction of the agricultural sprayer both correspond to the autonomous fill machine;a fill docking mechanism on the autonomous fill machine;an agricultural sprayer docking mechanism on the agricultural sprayer configured to couple to the fill docking mechanism such that the autonomous fill machine and the agricultural sprayer are in fluid communication; andan articulating arm on one or more of the fill docking mechanism or the agricultural sprayer docking mechanism configured to control relative movement of one or more of the fill docking mechanism or the agricultural sprayer docking mechanism to align the fill docking mechanism and the agricultural sprayer docking mechanism while both the autonomous fill machine and the agricultural sprayer are moving,wherein, when the fill docking mechanism and the agricultural sprayer docking mechanism are in fluid communication, the agricultural product transfers from the autonomous fill machine, through the fill docking mechanism, through the agricultural sprayer docking mechanism, and to the agricultural sprayer, while both the autonomous fill machine and the agricultural sprayer are moving, to provide the agricultural sprayer with the agricultural product.

14. The fill synchronization system of claim 13, wherein the coupling system further comprises a docking system having the fill docking mechanism on the autonomous fill machine and the agricultural sprayer docking mechanism on the agricultural sprayer such that the fill docking mechanism and the agricultural sprayer docking mechanism are in fluid communication to allow the transfer of the agricultural product from the autonomous fill machine to the agricultural sprayer.2025203023   22 Sep 202615. The fill synchronization system of claim 14, wherein the fill docking mechanism includes a socket and the agricultural sprayer docking mechanism includes a plug configured to insert into the socket, and wherein one or more of the fill docking mechanism and the agricultural sprayer docking mechanism uses one or more magnets to guide the plug into the socket.

16. The fill synchronization system of claim 14, wherein the fill docking mechanism comprises a socket and the agricultural sprayer docking mechanism comprises a plug, the socket configured to receive the plug therein, , and wherein the fill docking mechanism further comprises a basket configured to guide the plug into the socket to engage therewith, and wherein the fill docking mechanism comprises the articulating arm and a supply hose supported by the articulating arm, and wherein the basket is attached to an end of the supply hose, and wherein a docking controller controls the articulating arm to guide the plug into the basket.

17. The fill synchronization system of claim 14, wherein the fill docking mechanism comprises a socket and the agricultural sprayer docking mechanism comprises a plug, the socket configured to receive the plug therein, wherein one or more of the fill docking mechanism and the agricultural sprayer docking mechanism comprises a laser-guided docking system having a laser mounted on either the fill docking mechanism or the agricultural sprayer docking mechanism and a reflector mounted on the other of the fill docking mechanism or the agricultural sprayer docking mechanism to guide the plug into the socket.

18. The fill synchronization system of claim 14, wherein the fill docking mechanism comprises a socket and the agricultural sprayer docking mechanism comprises a plug, the socket configured to receive the plug therein, and wherein one or more of the fill docking mechanism and the agricultural sprayer docking mechanism is a camera-guided docking system having a camera mounted on either the fill docking mechanism or the agricultural sprayer docking mechanism and a target pattern mounted on the other of the fill 442025203023   22 Sep 2026docking mechanism or the agricultural sprayer docking mechanism to guide the plug into the socket.

19. The fill synchronization system of any one of claims 14 to 18, further comprising a decoupling system that disengages the autonomous fill machine from the agricultural sprayer by decoupling the fill docking mechanism and the agricultural sprayer docking mechanism, and wherein the decoupling system disengages the fill docking mechanism and the agricultural sprayer docking mechanism whenever the agricultural sprayer makes a turn in the agricultural field.

20. A non-transitory computer-readable storage medium storing instructions that, when executed by a computer, cause the computer to perform operations for synchronizing the filling of an agricultural sprayer with agricultural product, the operations comprising:autonomously driving an autonomous fill machine to the agricultural sprayer in an agricultural field, wherein the autonomous fill machine is moving in the agricultural field and the agricultural sprayer is moving in the agricultural field;aligning a fill docking mechanism on the autonomous fill machine to an agricultural sprayer docking mechanism on the agricultural sprayer while both the autonomous fill machine and the agricultural sprayer are moving in the agricultural field, one or more of the fill docking mechanism or the agricultural sprayer docking mechanism having an articulating arm;controlling the articulating arm to control relative movement of one or more of the fill docking mechanism or the agricultural sprayer docking mechanism to maintain alignment of the fill docking mechanism and the agricultural sprayer docking mechanism while both the autonomous fill machine and the agricultural sprayer are moving;coupling the fill docking mechanism and the agricultural sprayer docking mechanism so that the fill docking mechanism and the agricultural sprayer docking mechanism are in fluid communication; andin response to the fill docking mechanism and the agricultural sprayer docking mechanism being in fluid communication, transferring the agricultural product from the autonomous fill machine to the agricultural sprayer, while both the autonomous fill 452025203023   22 Sep 2026machine and the agricultural sprayer are moving in the agricultural field, to fill the agricultural sprayer with the agricultural product.

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