Vehicle for applying agricultural inputs to apply liquid products to crop rows and method of applying agricultural inputs within a field.

Abstract

This invention relates to systems, methods, and apparatus for applying agricultural inputs. In some embodiments, an irrigation system is provided with a reel communicating with a liquid source. In some embodiments, a drop assembly is incorporated into an irrigation system. In some embodiments, a crop applicator system includes a reel positioned between adjacent crop rows.

Description

1 / 42 Agricultural input application vehicle for applying liquid products to crop rows and METHOD OF APPLYING AGRICULTURAL INPUTS WITHIN A FIELD BACKGROUND

[001] The present invention relates to applicators, such as irrigation systems, sprayers, side booms, etc., which are used to apply one or more agricultural inputs. Some embodiments are used to apply one or more agricultural inputs to a standing crop. SUMMARY

[002] In one embodiment, an agricultural input application system is described. The agricultural input application system includes an irrigation vehicle with a transversely extending boom, a plurality of wheel mounts, and a plurality of applicators. The plurality of wheel mounts supports at least partially the boom. A supply vehicle is configured to be connected to the irrigation vehicle such that the supply vehicle and the irrigation vehicle move in tandem.

[003] In another embodiment, a reel is supported at a height above the ground surface and defines an axis of rotation that extends in a direction transverse to the crop rows. The reel is positioned between the first and second adjacent crop rows and further defines a width along the axis of rotation smaller than the distance between the so-called first and second adjacent crop rows.

[004] In another embodiment, a method of applying agricultural inputs is described. In one step, a crop applicator includes a reel and traverses a portion of the field with the reel positioned Petition 870260072309, dated 07 / 21 / 2026, p. 5 / 109 2 / 42 between adjacent crop rows.

[005] The scope of this disclosure is defined only by the attached claims and is not affected by the statements contained in this summary. BRIEF DESCRIPTION OF THE DRAWINGS

[006] Figure 1 is a schematic side view of an example of an agricultural input application vehicle.

[007] Figure 2 is a schematic rear view of the agricultural input application vehicle in Figure 1.

[008] Figure 3 is a schematic view of a refueling vehicle.

[009] Figure 4 is a schematic view of a supply vehicle connected to an agricultural input application vehicle.

[0010] Figure 5 is a schematic side view of an alternative supply vehicle.

[0011] Figure 6 is a schematic side view of an alternative refueling vehicle.

[0012] Figure 7 is a schematic rear view of an alternative agricultural input application vehicle.

[0013] Figure 8 is a schematic side view of the agricultural input application vehicle of Figure 7.

[0014] Figure 9 is a schematic side view of an alternative agricultural input application vehicle.

[0015] Figure 10 is a schematic front view of a part of the alternative agricultural input application vehicle of Figure 9.

[0016] Figure 11A is a schematic block diagram of a control assembly.

[0017] Figure 11B is a schematic side view of a reel and a drive member.

[0018] Figure 11C is a schematic side view of a Petition 870260072309, dated 07 / 21 / 2026, page 6 / 109 3 / 42 reel drive assembly.

[0019] Figure 11D is a schematic top view of the reel drive assembly of Figure 11C.

[0020] Figures 12-14 are schematic top views of different wheel arrangements for an agricultural input application vehicle.

[0021] Figure 15 is a schematic view of an operator station.

[0022] Figure 16 is a schematic side view of the connection between a power cable and a conduit.

[0023] Figures 17-19 are schematic cross-sectional views of a power cable positioned relative to a conduit.

[0024] Figure 20 is a schematic side view of a stationary supply reel positioned within a field.

[0025] Figure 21 is a schematic side view of a supply line positioned below ground and showing a plurality of hydrants.

[0026] Figure 22 is a schematic side view of a supply line positioned above ground and featuring multiple hydrants.

[0027] Figure 23 is a schematic side view of a supply line positioned above ground and showing a plurality of hydrants and a plurality of reinforcement members coupled to the supply line.

[0028] Figure 24 is a schematic side view of a coupling station for a vehicle to connect to a fire hydrant.

[0029] Figure 25 is a schematic top view of the docking station of Figure 24

[0030] Figure 26 is a schematic view of a first hydrant. Petition 870260072309, dated 07 / 21 / 2026, page 7 / 109 4 / 42

[0031] Figure 27 is a schematic view of a second hydrant.

[0032] Figure 28 is a schematic view of a field featuring a pivot irrigation system.

[0033] Figure 29 is a schematic view of a field featuring a pivot irrigation system and a plurality of vehicles applying agricultural inputs.

[0034] Figure 30 is a schematic side view of a pivot irrigation system and an agricultural input application vehicle.

[0035] Figure 31 is a schematic side view of a fluidly coupled agricultural input application vehicle with one end of a pivot irrigation system.

[0036] Figure 32 is a schematic side view of an agricultural input applicator vehicle fluidly coupled to one end of a pivot irrigation system via a conduit supported by a reel of the pivot irrigation system.

[0037] Figure 33 is a schematic side view of an alternative agricultural input application vehicle featuring longitudinal conduit sections.

[0038] Figure 34 is a schematic view of a connection zone for the agricultural input application vehicle of Figure 33.

[0039] Figure 35 is a schematic view of a primary connector for the agricultural input applicator vehicle of Figure 33.

[0040] Figure 36 is a schematic view of a field with an agricultural input application vehicle and a supply vehicle.

[0041] Figures 37-39 are schematic views of the operation of an agricultural input application vehicle.

[0042] Figure 40 is a schematic view of a field showing lines of primary and secondary vehicles. DESCRIPTION Petition 870260072309, dated 07 / 21 / 2026, p. 8 / 109 5 / 42

[0043] It will be appreciated that different embodiments employing one or more features of agricultural input applicator vehicles are described in this document. The features discussed in relation to one embodiment may be applied to other embodiments as desired. With reference now to the figures of the drawing, where similar reference numbers designate the same components or corresponding components throughout the various figures, Figure 1 illustrates an embodiment of an agricultural input applicator vehicle 100. The vehicle 100 includes a frame 110 supported on one or more wheel mounts 112 that are steerable relative to the frame 110 to navigate the vehicle 100 through a crop field (e.g., a row crop).Wheel assemblies 112 can be coupled to the frame 110 by means of bearings 114 which allow the wheels 112 to rotate relative to the frame 110 to enable the vehicle 100 to change direction and be propelled across the field. For example, one or more support legs 116 are optionally supported on a wheel assembly 112. Each wheel assembly 112 is optionally articulated to a respective support leg 116, for example, to pivot around a vertical axis via the bearing 114. In some embodiments, an actuator is configured to steer the wheel assembly 112, for example, to pivot a wheel portion relative to the support leg 116. In some embodiments, the wheel assembly 112 is driven into rotation by a motor 960, such as an electric motor, which motor can be operably coupled to the wheel assemblies 112.

[0044] Extending from a rear portion of the structure 110 is a boom 120 mounted on an adjustable joint 122. In one embodiment, the adjustable joint 122 is operable to adjust the height of the boom 120 relative to the ground while the vehicle 100 is Petition 870260072309, dated 07 / 21 / 2026, page 9 / 109 6 / 42 moves through the crop field. According to various embodiments, the 120 boom can be of any number of different lengths and any number of different configurations. For example, common 120 boom lengths include 18.288 m (60 ft), 27.432 m (90 ft), and 30.48 m (100 ft). Any other 120 boom length could also be employed according to different embodiments. The 120 boom is attached to the 110 frame using any number of attachment technologies, including, for example, a z-support mechanism. In different embodiments, the 120 boom can be attached in front of the 110 frame or behind the 110 frame. When using the adjustable 122 linkage, it is possible to raise the 110 boom to a height that is high enough to allow the 100 vehicle to turn at the end of a field into a standing crop without causing damage to the standing crop.In other embodiments, parts of the 120-foot spear can be folded upwards and out of the way of standing crops.

[0045] In some realizations and with additional reference to Figure 2, the vehicle 100 may include a drop assembly 150 optionally positioned for each crop row C (e.g., every 76.2 cm (30 inches) in 76.2 cm (30 inch) rows). In some embodiments, the total number of drop assemblies 150 is between 40 and 100. In some embodiments, a 36.576 m (120 ft) applicator 100 has forty-eight drop assemblies 150 or approximately forty-eight drop assemblies 150. In some embodiments, a 73.152 m (240 ft) applicator has ninety-six drop assemblies 150 or approximately ninety-six drop assemblies 150. In addition to the drop assemblies 150, the vehicle 100 may support one or more water guns 154 fluidly coupled to the conduit 130 and positioned to supply water and / or nutrients from a distance. of vehicle 100 in areas not directly Petition 870260072309, dated 07 / 21 / 2026, page 10 / 109 7 / 42 accessible to drop assemblies 150.

[0046] The boom 120 optionally supports a conduit 130 that generally extends transversely along the vehicle 100. The boom 120 further supports a plurality of applicators which may comprise transversely spaced drop assemblies 150 fluidly coupled with one or more outlets 152 (e.g., drain hoses). Each drop assembly 150 optionally includes a conduit (e.g., a flexible conduit) in fluid communication with the conduit 130 and in fluid communication with the outlet 152. In some embodiments, the outlet 152 is relatively restrictive (e.g., more restrictive than one or more outlets provided in the conduit 130). One or more pumps and / or valves of vehicle 100 optionally control the flow rate of fluid (e.g., water) exiting from a single outlet 152 and / or a plurality of outlets 152.One or more vehicle flow sensors 100 optionally measure the flow rate of fluid (e.g., water) exiting a single outlet 152 and / or a plurality of outlets 152. In some embodiments, one or more of the drop assemblies 150 include structure and / or features with one or more embodiments described in U.S. Patent No. 9,167,745, which is incorporated herein by reference in its entirety. The outlets 152 optionally comprise flexible conduit outlets supported on the drop assembly 150.

[0047] In one embodiment, the outlets 152 are drainage hoses mounted in a respective drop assembly and pressurized to apply liquid (e.g., water, nutrients mixed with water) at the base of a growing line. The conduit 130 is fluidly connected to a fluid inlet 140, which may be connectable to a water source (e.g., wellhead, reservoir). Optionally, in one embodiment, the structure Petition 870260072309, dated 07 / 21 / 2026, p. 11 / 109 8 / 42 of vehicle 110 carries a secondary agricultural input container 142 and an injection pump 144 to supply nutrients or other products to the conduit 130 along with the inlet water 140. The tank 142 can be fluidly coupled to the boom 120 or to one or more separate outlets to apply a secondary agricultural input (e.g., fertilizer, insecticide, herbicide, biological product, etc.) to a field. The pump 144 can be associated with the secondary agricultural input container 142 and used to move the secondary agricultural inputs to control the flow rate of the secondary inlet.

[0048] A power unit 146 and a master controller 148 may be driven by the structure 110 to provide power to one or more power-consuming devices (e.g., motors, pumps, processors) of the vehicle 100. In one embodiment, the power unit 146 is a diesel generator. In other embodiments, the power unit is another power source. The master controller 148 is connected to various components in the vehicle 100 to provide vehicle control (e.g., liquid application through drop assemblies 150, vehicle navigation 100).

[0049] For example, the master controller 148 can be operatively coupled to various sensors and controls to operate the vehicle 100. In one embodiment, a steering sensor 160 measures a position of the vehicle 100 on the crop row and calculates a crosspath error which is then corrected by a steering algorithm in the master controller 148. Furthermore, in some embodiments, one or more crop sensors 161 are coupled to the frame 120, for example, to a generally lower end of the frame or at other positions as desired. In addition to the crop sensors 161 as illustrated, other crop sensors can be coupled to various positions on the vehicle 100, for example, any number of the drop mounts 150 including none of the drop mounts. Petition 870260072309, dated 07 / 21 / 2026, page 12 / 109 9 / 42 150, all drop mounts 150, and anywhere between none and all drop mounts 150. Crop sensors 161 may include cameras, Normalized Difference Vegetation Index (NDVI) sensors, radar, LIDAR, thermal sensors, ultrasonic sensors, infrared sensors, or other sensing technologies, and are used to measure crop health. In one embodiment, a sensor is used to detect crop wilting or leaf rolling to increase the water applied to those plants. In addition to crop sensors 161, the vehicle 100 may include one or more soil sensors 162 that probe the soil to collect samples to measure current water supply, total soil water holding capacity, and / or other soil characteristics as desired.

[0050] In some embodiments, one or more 160-162 sensors are optionally configured to measure one or more soil-related criteria (e.g., soil moisture, soil temperature, soil reflectivity, soil color, soil electrical conductivity, soil organic matter, soil cation exchange capacity, etc.). In some embodiments, one or more 160-162 sensors comprise a remote sensor that does not contact the soil but is optionally oriented towards the soil. In some embodiments, one or more 160-162 sensors comprise a contact sensor that engages the soil surface and / or subsurface.

[0051] In some embodiments, one or more 160-162 sensors are optionally configured to measure one or more crop-related criteria (e.g., crop color, crop reflectivity, stem diameter, crop presence, crop population, crop spacing, crop uniformity, etc.). In some embodiments, one or more 160-162 sensors comprise a remote sensor that does not come into contact with the crop but is Petition 870260072309, dated 07 / 21 / 2026, page 13 / 109 10 / 42 optionally oriented towards the crop (e.g., transverse to a vehicle's direction of travel 100). In some embodiments, one or more sensors 160-162 comprise a contact sensor that comes into contact with the crop (e.g., a stem, a leaf, etc.). Data from all sensors 160-162 can be stored by the master controller 146 and sent via a data connection to a cloud server for analysis and storage.

[0052] The boom 120 may also support a weed drop assembly 170, which is connected to a linear track or rail 172 on the boom 120. The weed drop assembly 170 is configured to remove weeds from the field. In one embodiment, the weed drop assembly is supported (e.g., mounted) on the boom 120 via a driven head 174 on a linear track 172 supported by the boom 120 to position the weed drop assembly 170 laterally along the width of the boom 120 for alignment with the weeds.

[0053] As illustrated in Figure 2, a rotating head 176 can be mounted on the underside of the weed-dropping assembly 170 and positioned to engage the ground during operation of the vehicle 100. The head 176 can be driven from a drive wheel connected to the weed-dropping assembly 170 and positioned on the ground and powered by the movement of the vehicle 100, or it can be driven by an electric motor or other rotational actuator provided by the vehicle 100. A weed implement 178 can be mounted on the head 176 and configured to remove weeds from the field. In one embodiment, the implement 178 may include tongues, blades, plastic or metal wire, lasers, hot air guns, electric shock probes, or other soil or weed removal features. In an alternative embodiment, the assembly of Petition 870260072309, dated 07 / 21 / 2026, page 14 / 109 11 / 42 weed drop 170 may include a stationary head fitted with a blade, and weed removal occurs by positioning the drop assembly 170 laterally along the boom 120 (via the rail 172) to pass over a weed as the vehicle 100 moves forward.

[0054] The weed-dropping assembly 170 may further include one or more sensors (e.g., sensor 180) to detect the presence of crop plants and weeds during the operation of vehicle 100 and to control the position of the weed-dropping assembly 170 or the rotary head 176 to remove weeds while avoiding healthy crops. A vehicle 100 operator may be enabled to designate that weaker crop plants be removed. For example, weaker plants are sometimes called late emergents. The master controller 148 may use data from sensors 160-162 and sensor 180 to compare the size, biomass, stem diameter, or other characteristics of the crops detected by the sensors during the operation of vehicle 100.Crop plants that differ from the average by an amount greater than a threshold set by an operator may be considered weeds and removed by the control system with the weed drop mount 170. Plants may also be considered for removal if they do not grow at an average rate, as calculated by the master controller 148, such as the change in size, biomass, stem diameter, or other plant characteristics from a historical measurement taken during a previous application pass and the current measurement.

[0055] As illustrated in Figure 3, a supply vehicle 200 can be used with vehicle 100 to provide water to the fluid inlet 140. Vehicle 200 includes a structure 202 that supports a reel 204 that carries a flexible conduit 206 (by Petition 870260072309, dated 07 / 21 / 2026, page 15 / 109 12 / 42 example, a hose) for rotation around an axis Ra. Liquid is supplied to the flexible conduit 206 through a drag hose 208. Steerable wheels 210 are used to allow the supply vehicle 200 to be moved in any direction. A power source 212 may be a diesel generator or a battery that will be charged by the irrigation vehicle 100 when connected to the supply vehicle 200. The vehicle locking points 220 are used to connect the irrigation vehicle 100 to the supply vehicle 200 to move it to a new position in the field. In another embodiment, the supply vehicle 200 is automatically driven and moves to a desired position in the field in conjunction with the irrigation vehicle 100 to maintain hose security and align itself to dispense the hose onto the irrigation vehicle as it moves through a passage.A pressure booster pump (not shown) can be used on refueling vehicle 200 and powered by power source 212 to increase liquid pressure and allow more flow to be produced over a longer distance.

[0056] In some embodiments, the reel 204 may be self-winding (e.g., spring-loaded torsionally) and / or have one or more winding mechanisms and / or a shuttle or other mechanism for guiding the conduit 206 into position. The conduit 206 optionally has an outlet end 222 in fluid communication with the fluid inlet 140 on the vehicle 100. The conduit 132 optionally has an inlet end that can be moved to a remote location on the vehicle 200 (e.g., by unwinding the reel 204) and which is optionally configured to be in fluid communication with a primary agricultural input source (e.g., water source, such as a wellhead outlet or other outlet). Petition 870260072309, dated 07 / 21 / 2026, page 16 / 109 13 / 42

[0057] In various embodiments, the device or devices used to hold the conduit 206 may take various forms. For example, a plurality of reels may be arranged along the width of the vehicle 200 and may be hydraulically coupled (e.g., selectively fluid-coupled) to one another. The conduit 206 optionally comprises, at least partially, a rigid flexible pipe (e.g., not flattened). Also or alternatively, the conduit 206 optionally comprises, at least partially, a flat pipe that may generally become flat when the pipe is not filled with water, and expand when the pipe is filled with water. In some embodiments, during operation, the conduit 206 includes a filled portion supported on the vehicle 200 and an unfilled (e.g., empty) portion supported on the vehicle 200.

[0058] As illustrated in Figure 4, the refueling vehicle The 200 can be nested inside the irrigation vehicle 100 and connected to it. The locking points 220 of the supply vehicle 200 can be connected to the corresponding locking points 190 on the irrigation vehicle 100. Once the supply vehicle 200 is connected to the irrigation vehicle 100, the irrigation vehicle 100 can then be navigated to a desired location. For example, in one embodiment, the connected irrigation vehicle 100 and the supply vehicle 200 move to a first row of crops. After reaching the first row of crops, the irrigation vehicle 100 is disconnected from the supply vehicle 200 and proceeds to traverse between an adjacent first and second row of crops, providing irrigation to the nearby rows and dispensing the irrigation hose between the first and second rows. After reaching the end of the field, the irrigation vehicle 100 can reverse and return to the supply vehicle 200.Upon returning to the vehicle. Petition 870260072309, dated 07 / 21 / 2026, page 17 / 109 14 / 42 supply 200, the irrigation vehicle 100 and the supply vehicle 200 can be connected and subsequently move between a third and a fourth row of crops.

[0059] In another embodiment of a supply vehicle 200' illustrated in Figure 5, a supply reel 250 rotatably supports a supply conduit or hose 252 for rotation about an axis of rotation Rb. The supply conduit 252 is fluidly coupled to the conduit 206, which dispenses fluid at the outlet 222. In one embodiment, the conduit 252 has a different diameter from the conduit 206. In one example, the supply reel conduit 252 has a larger diameter, reducing the pressure drop from the source water to the conduit 206. When the irrigation vehicle 100 and the supply vehicle 200' are connected and moving in tandem to a desired irrigation line, the supply reel 250 will be rotated to extend or retract the supply hose 252 at a speed corresponding to the speed of the tandem.The supply conduit 252 can be rotatably connected to the water supply to follow the supply vehicle 200' as it is moved from one half of the field to the other. In another embodiment of the supply vehicle 200', as discussed below, the reel 202 is driven on the irrigation vehicle 100 and connected to the supply conduit 252 which is driven on the supply vehicle 200'.

[0060] In yet another embodiment of a supply vehicle 200'' illustrated in Figure 6, a reel 260 rotatably supports a hose 262 around a rotation axis Rc that extends in a direction of travel T to the vehicle 200''.

[0061] Another embodiment of an agricultural input applicator vehicle 400 is illustrated in Figures 7 and 8, in which a reel 402 is rotatably supported on a central axis 404. The vehicle 400 can. Petition 870260072309, dated 07 / 21 / 2026, page 18 / 109 15 / 42 include any of the features discussed above in relation to vehicle 100 and be used in conjunction with supply vehicle 200 or other liquid supply source, as desired. The axle 404 connects to a vehicle frame 406, which includes spaced supports 408a and 408b. In one embodiment, the axle 404 is supported on the frame 406 by means of bearings 410a and 410b, respectively. The bearings 410a, 410b can take many forms, such as pedestal bearings, slewing bearings, or others. The axle 404 can be supported at a higher height than the crops C positioned within a field. Furthermore, the vehicle frame 406 can alternatively or additionally be mounted on an adjustable cart to allow its height to be raised and lowered for crops of different heights.The structure 406 is supported on a plurality of wheel mounts 412, which can be driven and / or steered to move the vehicle 400 as desired. Although the reel 402 is illustrated as rotating around the axis 404 which is orthogonal to a direction of travel for the vehicle 400, the axis 404 can be positioned to be parallel to a direction of travel for the vehicle 400. Furthermore, a direction of the wheel mounts 412 can change to orient the direction of the axis 400 to be parallel, orthogonal, or oblique to a direction of travel for the vehicle 400.

[0062] As shown in Figure 7, reel 402 can be positioned in a field to rotate between crop rows R1 and R2. Although illustrated as positioned centrally between supports 408a and 408b, reel 402 can also be mounted off-center between supports 408a and 408b. A reel width W1 can be equal to or less than a spacing width W2 between crop rows R1 and R2. In one embodiment, the width W2 is approximately 76.2 cm (30 inches), wherein the width W1 is Petition 870260072309, dated 07 / 21 / 2026, page 19 / 109 16 / 42 less than 76.2 cm (30 inches) (e.g., 73.66 cm (29 inches), less than 73.66 cm (29 inches), between 73.66 and 65.5 cm (29 and 25 inches), 63.5 cm (25 inches), less than 63.5 cm (25 inches)). A position of reel 402 relative to supports 408a and 408b can also be selected to position wheel mounts 412 between the growing rows. For example, support 408a is positioned between rows R1 and R3, while support 408b is positioned between rows R2 and R4.

[0063] A flexible conduit (e.g., a hose) 420 led by the reel 402 is optionally connected to a liquid source via an inlet 422. Water may be supplied to the conduit 420. In addition, fertilizers and / or chemicals may be supplied. Sometimes, fertilizer is optionally injected into the water stream to provide a controlled mixture of fertilizer and water to a field of plants. The water may come from an underground well, or be pressurized by a pump that draws water from a stream or river, a standing body of water, or a tank. Fertilizer may also be supplied through the conduit 420 to be applied to the field or mixed at a controlled rate into a stream of another liquid passing through the conduit 420.

[0064] In another embodiment, side shields 430 can be mounted on the vehicle frame 406 and positioned along the sides of the reel 402 to protect the crops as the vehicle 400 passes through the crops. In one embodiment, a front and / or rear end of the shields can be tapered to engage the crop and gently push the crop to the side. In another embodiment illustrated in Figure 8, a lower shield 450 can be positioned under the reel 402 to gently bend the crop downwards so that the crop is prevented from being damaged when the crop passes under the reel 402. To accommodate the conduit 420, the Petition 870260072309, dated 07 / 21 / 2026, p. 20 / 109 17 / 42 450 shielding may include a slot or hole to allow 420 conduit to pass through the 450 shielding to the ground.

[0065] As illustrated in Figure 9, vehicle 400 may have several features similar to vehicle 100, as well as other features as desired. For example, vehicle 400 includes a boom 500 supported by an adjustable linkage 502. The boom 500 supports one or more drop mounts 504 fluidly coupled to a conduit 506, which, in turn, is fluidly coupled to the conduit 420. Vehicle 400 may be powered in various ways, for example, by a generator 510 supported on the structure 406. Vehicle 400 may also be powered by other sources, such as solar cells or batteries that will be replaced when empty or charged when vehicle 400 docks at a charging station.

[0066] In another embodiment, vehicle 400 is powered by a wire. In this embodiment, vehicle 400 may support a power cable reel 520 that carries a power cable 522 connected to a remote power source. In one embodiment, the power cable 522 may include one or more wires, for example, three wires to provide three-phase power. The wires may be joined into a single cable or remain independent. The power cable 522 may be stored in the power cable reel 520 and dispensed at a speed corresponding to the speed of vehicle 400. In an alternative embodiment, vehicle 400 is powered with single-phase power.

[0067] With reference to Figure 16, in one embodiment, power cable 522 is routed into or directly connected to conduit 420 and passes through each end of conduit 420. As illustrated in Figure 16, at one end 522A, the cable Petition 870260072309, dated 07 / 21 / 2026, page 21 / 109 Power supply cable 522 provides power to vehicle 400 and, at the opposite end 522B, the power cable is connected to a power source. T-fittings 580 can be used at each end of the hose to provide a sealed point for the cable 522 to enter and exit while the liquid passes directly through the T-fittings 580 inside the conduit 420. As illustrated in Figures 17-19, the power cable 522 can float freely in the liquid as it passes through the conduit 420 (Figure 17) or the cable 522 can be shaped or attached to an inner surface 582 (Figure 18) or an outer surface 584 (Figure 19) of a wall 586 of the conduit 420.

[0068] The vehicle 400 can also support a controller 540 to operate the vehicle 400, apply liquid via drop mounts 504, and monitor crop, soil, and other environmental conditions. To this end, the vehicle 400 includes several sensors, such as sensors 550 and 551. As illustrated, sensor 550 includes a ground-penetrating member, such as a rotating disc, while sensor 551 includes a sliding blade that can be mounted on the vehicle 400 via a stationary or pivoting mount and penetrate the soil while taking measurements as the vehicle 400 moves. In one example, a capacitive sensor or other moisture sensor can be used as the environmental sensor 550 to measure soil moisture. Multiple sensors can be mounted on the ground-penetrating member in different positions to collect data from different depths in the soil.The rate of water, fertilizer, or chemical applied by vehicle 400 can be adjusted based on the measurement(s) detected relative to a target defined by the operator.

[0069] In the illustrated embodiment, sensor 550 is positioned to detect soil moisture mounted on the front of vehicle 400, and sensor 551 is mounted behind drop mount 504 on vehicle 400. In. Petition 870260072309, dated 07 / 21 / 2026, page 22 / 109 19 / 42 An exemplary operation of vehicle 400, the liquid rate applied to a subsequent area of ​​soil can be adjusted by controller 540 based on the dryness of that soil detected by sensor 550 and the soil moisture detected by sensor 551 after the drop assembly has applied a known quantity of water to the previous area. For example, sensor 550 might detect that the area in front of vehicle 400 is drier than a previous area that took some time to be detected as full by sensor 551. Controller 540 can consequently adjust the target liquid application rate as it enters the new area to apply a larger quantity of water or actively adjust until sensor 551 reports that the soil is full of liquid (or above a specific threshold).Other sensors can be spaced at different locations along the 500 boom, and the control system can adjust a common rate along the boom to best apply the liquid to match the variation in soil detected by the 550 and 551 sensors, or to fill the drier soil detected to a desired level, or to an operator target, or to avoid overfilling any specific soil under the 500 boom, limiting the application to an operator target. The 540 controller can store historical data collected by the 550 and 551 sensors from previous passes through the field in memory or in a data cloud accessed via a wireless connection.

[0070] As vehicle 400 applies a liquid to a crop area, controller 540 can compare the current measurements taken by sensors 550 and 551 with historical data collected by those same sensors and adjust the liquid application rate by drop mounts 504 until a result equal to previous applications is obtained. For example, controller 540 can determine, based on a moisture sensor measurement, that a soil area is 10 percent full compared to a previous measurement. Petition 870260072309, dated 07 / 21 / 2026, page 23 / 109 20 / 42 historical data for that soil before a previous application and a historical record of how much applied water was needed to fill the soil in that area to one hundred percent full or to an operator threshold fullness target.

[0071] In addition to sensors 550 and 551, the controller 540 can collect data from stationary sensors 570 positioned in a field, such as moisture probes, nutrient probes, rain gauges, weather stations, crop sensors, cameras, or other relevant sensors, by positioning the vehicle 400 within a distance necessary to wirelessly connect to the sensor via a communication method such as Bluetooth. Data can be transferred while the vehicle 400 is stationary or while it passes over or near the sensor 570 at a speed rate necessary to allow sufficient time for the data transfer to be completed. Data could also be transferred to the vehicle by coupling to a data connection positioned on the stationary sensor 570 in a location accessible to the vehicle.The data collected by the 570 sensors in the field or on the 400 vehicle (e.g., 550 and 551 sensors) can be transferred to a storage location, such as a data cloud, via a wireless method or by connecting to a data transfer station in the field. The data transfer station can be connected via a wire to an internet source or via a higher-speed transfer method than that available on the 400 vehicle.

[0072] As will be discussed in greater detail below, using the 540 controller, a remotely positioned vehicle 400 operator can be enabled to view, download, or interact with the data via an operator station and make application decisions to change the rate or create a new prescription plan for the passage of Petition 870260072309, dated 07 / 21 / 2026, page 24 / 109 21 / 42 current or future application that is transferred back to vehicle 400. The operator may also be enabled to select a location in the field to park vehicle 400 between passes, or the 540 controller may recommend a location to the operator or decide on a location based on sensor measurements from the last application pass or historical passes. For example, the 540 controller may determine an area of ​​soil with low moisture capacity in the field by comparing historical measurements collected in that area during previous application passes to other areas in the field. When vehicle 400 is parked, the mobile soil sensors can continue to collect data over time and report that data to the 140 controller. As the crop uses an input, such as water, the sensors report a reduced amount of that input that is still available in the soil.Natural events such as rain or application by the 400 vehicle will increase the amount of input available at that location. As the crop uses the input, the 540 controller can alert the operator when levels fall below a threshold, as determined by the operator or the 540 controller based on historical data collected from sensors that detect a decrease in crop health as the measured input level falls below the threshold in that area. The 540 controller can detect plant locations using plant sensors such as cameras, ultrasonic distance sensors, radar, contact sensors, or other plant sensors. The 540 controller can adjust the final parked position of the 400 vehicle to align its sensors with a row of plants, in the middle of a pair of rows, or at a target location relative to the plants, as defined by the operator.

[0073] Sensors 550-551 mounted on the 400 vehicle can also detect the need for water, fertilizer or an agricultural chemical at the location where the vehicle is located and send measurements to Petition 870260072309, dated 07 / 21 / 2026, page 25 / 109 22 / 42 the 540 controller which, optionally, actively adjusts an applied liquid rate until the 550-551 sensors report that the need has been met. In one embodiment, the 550-551 sensors include thermal sensors or thermal cameras to detect an original soil temperature and the presence of water that is applied to actively adjust the applied liquid rate. The liquid dispensed from the 504 assembly is optionally at a different temperature than the soil surface. As the liquid is applied in a stream at the base of the plant rows, the 550-551 camera or sensor detects the temperature change between dry and wet soil, which directly shows the location where the liquid was applied. The liquid will infiltrate the soil before spreading to the center of the row.Upon detecting the spread of liquid as a change in soil surface temperature, the camera or thermal sensor provides an indicator that the soil will be sufficiently saturated when the water has reached the center of the row and begun to cool the soil. An operator can optionally choose to limit the liquid application to cover only a percentage of the area between the rows. The 540 controller optionally waits for an indication from the sensor or thermal camera that the liquid has reached the operator's threshold and moves the 400 vehicle to the next area.

[0074] In addition to the features identified above, vehicle 400 may include a conduit control assembly 600 configured with one or more features to control the dispensing and retraction of conduit 420 relative to reel 402. In one embodiment, the control assembly 600 may include a mobile trolley or crossbar 602 that will engage conduit 420 when conduit 420 is dispensed or retracted relative to reel 402. As illustrated in Figure 10, the mobile trolley 602 is optionally moved along a linear track 604 to position conduit 602 as it enters or exits. Petition 870260072309, dated 07 / 21 / 2026, page 26 / 109 23 / 42 of the reel so that each conduit 420 wrapper in the reel 402 is held firmly against the preceding wrapper. The vehicle 400 optionally dispenses conduit 420 at a rate selected to match the ground speed of vehicle 400.

[0075] In addition, the control assembly 600 can maintain a controlled amount of tension or bending in the conduit 420, as described herein in greater detail. With further reference to Figure 11A, the control assembly 600 includes a controller 620, a spool drive 622, a spool speed sensor 624, a conduit sensor 626, a vehicle speed sensor 628, and a global positioning system (GPS) 630. The spool drive 622 can be any type of drive mechanism for controlling the rotation of the spool 402, such as an electric motor or other rotational actuator, such as a driven slewing bearing. The spool speed sensor 624 is optionally in communication with the controller 620 and optionally detects the speed at which the spool 402 is rotated. The conduit sensor 626 is also in communication with the controller.In particular, conduit sensor 626 is configured to detect tension in the hose created by vehicle speed, as detected by vehicle speed sensor 628 in relation to the conduit 420 dispensing rate by reel 402, or the bending in conduit 420 from a desired hose position as tension varies.

[0076] As illustrated, the conduit sensor 626 may comprise at least one rotating arm 650 (or opposing arms on opposite sides of the reel 402) in physical contact with the conduit 420 (e.g., through the track 604 or other element) with a rotation sensor connected to the arm 650 to detect a change in the position of the arm relative to the vehicle frame 406 as the conduit 420 rises when under higher tension and sinks when the tension falls. In Petition 870260072309, dated 07 / 21 / 2026, page 27 / 109 In other embodiments, the cart 602 may include a measuring zone, and one or more beam sensors are positioned on opposite sides of the cart 602 to detect the rise or fall of the conduit 420 relative to the vehicle frame 406 as specific beams are broken. Other sensors may be used to measure the conduit position, such as reflectance sensors or ultrasonic sensors. The conduit sensor 626 is optionally positioned at a location where changes in voltage (or relative position of the conduit 420 relative to the vehicle frame 406) result in a change in the conduit position. In some embodiments, this location will be at the rear of the vehicle, adjacent to or near it. The control assembly 600 may adjust the reel speed based on a combination of one or more of the vehicle speed, GPS position, reel speed, and conduit position.

[0077] In one example, control assembly 600 will adjust the spool speed so that the conduit tension created by the relative speed between spool 402 and vehicle 400 keeps conduit 420 centered within a measuring range (or within a defined limit) of conduit sensor 626. As conduit sensor 626 detects that conduit 420 is falling within the measuring zone due to changes in vehicle speed or other causes, control assembly 600 will optionally rotate spool 402 more slowly to increase the tension on conduit 420. If sensor 626 detects that conduit 420 is rising to the top of the measuring zone, control assembly 600 will optionally increase the spool speed to reduce the tension so that conduit 420 flexes and is again centered within the measuring zone. The operator can optionally choose to define a custom position target via a user interface connected to the assembly. Petition 870260072309, dated 07 / 21 / 2026, page 28 / 109 25 / 42 control 600.

[0078] As vehicle 400 moves forward, control assembly 600 operates to rotate reel 402 at a rate such that conduit 420 is dispensed at a speed equal to the movement of vehicle 400. Conduit 420 passes through selectively positioned trolley 602 to align conduit 420 with the wrapper being dispensed or retracted by reel 402. The position of trolley 602 may be controlled by a motor driven by a control system or may be driven by a chain connected to the reel 402 drive system and synchronized so that the position of trolley 602 corresponds to a specific wrapper of conduit 420 on reel 402 at the correct time.

[0079] The 602 cart may further include conduit engagement features that include a conduit dispenser that tensions the 420 conduit as it is dispensed from the 402 reel and placed on the ground at a net zero speed relative to a vehicle speed of 400. In one embodiment, the dispenser includes one or more rubber wheels pressed toward the 420 conduit and driven at a speed equal to the speed of the 400 vehicle. Without a dispenser, the 420 conduit may become loose on the 402 reel while the 400 vehicle rotates around an arc and may no longer be able to pull the tension through the 420 conduit back to a location where the 420 conduit inlet is mounted, or the 400 vehicle may pull the 420 conduit through the ground after completing the turn, causing the 420 conduit to damage the crop.By ensuring that conduit 420 leaves vehicle 400 at the same and opposite speed of forward motion, the position of the conduit can be maintained on the ground and the tension maintained in conduit 420 while still on reel 402. As conduit 420 is repacked onto reel 402 as vehicle 400 reverses, the hose dispenser can be rotated at a speed slightly lower than the speed of the vehicle. Petition 870260072309, dated 07 / 21 / 2026, p. 29 / 109 26 / 42 vehicle, so that some slippage occurs in the hose and the tension is maintained.

[0080] As illustrated in Figures 11B-D, the speed of reel 420 can be controlled by measuring the torque required to rotate reel 420, which is directly related to the tension created in the conduit 420 by the conduit dispenser on the cart 602. In the illustrated embodiment, a drive gear 670 is connected to a reel gear 672 via a drive chain 674. The drive gear 670 is rotated through a gearbox by a motor 676. The motor, gearbox, and drive gear are mounted to slide on rods 678 and positioned to compress a spring 680 as the torque to rotate reel 402 increases. A chain tensioner 682 is mounted to keep the drive chain tight as the drive gear changes position on rods 678.In one embodiment, a position sensor can be mounted to measure the position of the drive gear on the rods and report a change in position to the controller 540. The speed of the reel 402 is then adjusted by the controller 540 to maintain the position of the drive gear 670 at a target position. In operation, as more conduits 420 are needed to match the forward speed of the vehicle 400, the conduit dispenser may pull the conduit 420 more forcefully, causing the drive gear 670 to be pulled closer to the spool gear 672 while compressing the spring 680. The controller 540 will detect the change in position by the position sensor and increase the speed of the spool 402, providing more conduit 420 to the conduit dispenser and reducing the tension on the conduit 420. The spring 680 will push the drive gear 670 back to the target position when the required speed is reached. Petition 870260072309, dated 07 / 21 / 2026, p. 30 / 109 27 / 42 carretei for impacto.

[0081] The 400 vehicle can be operated in several ways. As illustrated in Figure 12, a first configuration 400-1 of the vehicle 400 is supported by three wheels. Two wheels 701 and 702 can be positioned at opposite corners of a front of the vehicle 400, and a third wheel 703 can be mounted on a centerline and positioned at a rear portion of the vehicle 400. The 400-1 configuration of wheels 701-703 can also be reversed with two wheels mounted at the rear portion and a single wheel at the front. In one embodiment, wheels 701 and 702 are driven by electric motors or other rotational actuators, and the third wheel 703 is not driven. In other embodiments, all three wheels 701-703 can be driven. The third wheel 703 can be mounted on a bearing or rotational shaft 704 that allows the third wheel to rotate freely as the direction of the vehicle changes. The third wheel 703 can also be driven by an actuator to change the direction of the vehicle 400.The conduit 420 dispensed from the reel 402 may be dispensed between the two driven wheels 701 and 702 if the wheels are at the rear of the vehicle 400. Alternatively, the conduit 420 may be dispensed above, beside, or near the single wheel 703 if the wheel 703 is at the rear. The conduit 420 may also pass under the single wheel 703 in embodiments where a wheel with a cup-shaped form is used, providing a tunnel for the conduit 420 to pass through.

[0082] In another configuration 400-2 illustrated in Figure 13, the vehicle includes four wheels 711-714. Wheels 711 and 712 are driven by a motor or other actuator, while wheels 713 and 714 are positioned to rotate around a bearing or axis of rotation 715 and 716, respectively. In yet another configuration 400-3, as illustrated in Figure 14, two left wheels 721 and 723 can be moved together and the two right wheels 722 and 724 can be driven Petition 870260072309, dated 07 / 21 / 2026, page 31 / 109 28 / 42 joints. The vehicle in this 400-3 configuration can be steered by altering the speed of a pair of wheels to allow the vehicle to glide in a new direction. In any of the 400-1 to 400-3 configurations, the wheels can be positioned on the vehicle at a spacing to pass through the center of the crop rows to minimize crop damage.

[0083] As illustrated in Figure 15, an operator station The 900 operator station may be located at an agricultural management site, such as an operator's home, an agricultural office, an equipment storage facility, or another location where the operator is managing the farm. The 900 operator station is connected via a 902 data connection, such as a cellular or other wireless data transfer method, to one or more 100 / 400 vehicles discussed herein within one or more fields.The 900 operator station can access one or more cameras, thermal sensors, thermal cameras, LIDAR, radar, capacitance sensors, resistance sensors, conductivity sensors, infrared sensors, light sensors, soil color sensors, organic matter sensors, and other sensors mounted on the 100 / 400 vehicle or positioned 100 / 400 vehicles to collect data related to crop plants, weeds, soil, field environment, weather, current vehicle status and position, future vehicle path, or other data relevant to the operator or control system.

[0084] The operator station 900 may include features common to an agricultural equipment cab, including a seat 902 for the operator and operator controls, including a steering wheel 904, pedals, control buttons and switches or joysticks 906 and a data display or displays 908, such as a smartphone, a smart tablet, a smart television, a projector, a headset with a virtual screen or other data projector. In other embodiments, the Petition 870260072309, dated 07 / 21 / 2026, page 32 / 109 The 29 / 42 operator station 900 can be a web application, a mobile application, or other user interface accessed via a smartphone, computer, smart television, touchscreen, virtual screen headset, or similar device. Environmental sensor data is displayed to the operator via the operator station 900 and, in particular, the 908 screens. The data can be displayed in real-time, near real-time, or as historical or time-delayed data. The data may comprise a direct visual feed from a camera or a simulated visual representation created from the combination of thermal inputs, cameras, or other sensors. The data may also be displayed as numerical values ​​or as a map of geographically displayed values.Based on the data displayed for a specific vehicle, the operator can be enabled to change machine settings, create a control path for a selected vehicle to drive, or take control of the selected vehicle and drive it to a new location. Once a mobile vehicle has completed operations in a field, the operator can be enabled to take control to drive the vehicle on public roads to another field using the camera inputs and operator controls at the operator station. The operator can see a summary display of data from multiple vehicles. Indications (e.g., audio, visual) can be given to the operator that a selected vehicle needs attention. The operator can then be enabled to select a specific vehicle from the summary display to view that vehicle's data, and then select a specific camera or sensor to view more detailed historical or real-time data.

[0085] Other methods of 100 / 400 refueling vehicles may be used, as described herein. In an embodiment illustrated in Figure 20, a 1000 refueling reel that supports Petition 870260072309, dated 07 / 21 / 2026, page 33 / 109 30 / 42 A supply conduit 1002 is placed near a water source 1004. The supply reel 1000 is mounted on a rotating base 1006 so that the supply conduit 1002 is dispensed to a supply vehicle 200 or an agricultural input application vehicle 100 / 400 in either direction. The supply reel 1000 is connected to the water source 1004 via a rotating fluid connection 1008. The supply conduit 1002 can be dragged along the ground by a connected vehicle. Additionally, an air supply 1010 can be used to purge the supply conduit 1002 of water before it is dragged to a new location, which will reduce the weight of the supply conduit 1002 and decrease the required traction force of the vehicle.

[0086] In another embodiment illustrated in Figure 21, the hydrants 1100 can be used to supply water to an agricultural input application vehicle 100 / 400 or a supply vehicle 200. In one embodiment, a supply line 1102 is buried below ground level and connected to a water source and to the hydrants 1100. In one embodiment, the supply line 1102 is made of polyvinyl chloride (PVC) or high-density polyethylene (HDPE). The spacing between hydrants 1100 can be equal to the width of the boom on the vehicle, the width of the field passages, or other spacings based on the field terrain and the location of the water source.

[0087] In another embodiment illustrated in Figure 22, a supply line 1150 with hydrants 1100 can be arranged above ground level. The supply line 1150 can be made of a wear-resistant material so that a vehicle is able to pass over the supply line 1150 without damaging it. For example, the supply line 1150 can be a flat hose and the vehicle can be in communication with the water supply to Petition 870260072309, dated 07 / 21 / 2026, page 34 / 109 31 / 42 prevent the water source from pressurizing the supply line when the vehicle is ready to cross. As the pressure is interrupted, supply line 1150 will be emptied and allow the vehicle to cross it without damage. The vehicle then alerts the water source to pressurize supply line 1150 allowing it to continue irrigating.

[0088] In yet another embodiment illustrated in Figure 23, a supply line 1170 with hydrants 1100 includes spaced bridges 1174 made of steel or other high-strength structural material and placed over the supply line 1170 to provide crossing points for a vehicle. The bridges 1174 may be spaced at a distance equal to the wheelbase of the vehicle. In one embodiment, the hydrants 1100 include a location marker that guides the vehicle to the correct position to align with the bridges.

[0089] In order to access a hydrant 1100, a vehicle 1200 may be fitted with a coupling station 1202 for use in connecting a conduit 1204, as illustrated in Figures 24 and 25. The coupling station 1202 includes extension arms 1206 that guide the vehicle 1200 so that the hydrant 1100 engages the coupling station 1202. After the hydrant 1100 engages the coupling station 1202, a coupling connector 1210 is locked into a guide cap 1212 on the hydrant 1100.

[0090] Exemplary hydrants 1100 and 1100' are illustrated in Figures 26 and 27, respectively. The guide cover 1212 may include a flow gate 1222 and one or more location indicators 1224. The coupling connector 1210 on the vehicle 1200 is configured to extend to the flow gate 1222 and to open it, allowing liquid to pass into the conduit 1204. The location indicators 1224 provide a signal to alert that a connection has been made. Petition 870260072309, dated 07 / 21 / 2026, page 35 / 109 32 / 42 successfully completed. In one embodiment, the indicators 1224 are magnets and the coupling connector 1210 includes one or more Hall effect sensors to detect the presence of magnets indicating that a successful connection has been made. The flow gate 1222 is positioned on the hydrant and sealed by water pressure in the hydrant. Once the coupling connector 1210 is connected to the hydrant 1100, the flow gate 1222 is pushed open allowing flow to pass through the coupling connector 1210 and into the conduit 1204. After vehicle 1200 has completed one or more passes that align with hydrant 1100, the coupling connector 1220 is disconnected and vehicle 1200 moves to the next hydrant 1100 and the connection process is repeated.

[0091] The hydrant 1100 in Figure 26 includes an elongated flexible section 1220 that extends to the distal guide cap 1212. The flexible section 1220 allows the hydrant 1100 to bend to ground level when contacted by an implement, such as a planter or combine harvester. The hydrant 1100' in Figure 27 is made of flexible material and can be placed at ground level when not in use.

[0092] The concepts presented here can also be used in connection with pivot irrigation systems or other liquid application systems. An example of a pivot irrigation system 1300 is illustrated in Figure 28. The pivot irrigation system 1300 may include one or more ground-penetrating members supporting one or more environmental sensors 1302 at one or more locations to measure soil moisture as the system 1300 rotates in an arc. The operator station 900 can be used to adjust the speed at which the pivot irrigation system 1300 is rotated, a master valve, section valves, or individual nozzle valves to alter an applied liquid rate to match the needs measured by the Petition 870260072309, dated 07 / 21 / 2026, page 36 / 109 33 / 42 sensors 1302 on the ground penetration members. Sensor measurements, data storage and transfer, and control decisions may be the same as those described herein. The operator may be enabled to park (e.g., stop) the pivot irrigation system 1300 at a location in the field so that the sensors 1302 continue to collect and report data from a relevant soil area. The operator station 900 may optionally be used to select one location or suggest multiple locations to the operator where multiple sensors along the length of the pivot irrigation system 1300 are positioned in relevant soil areas in the field. For example, one sensor may be positioned by the control system in the historically driest area of ​​the field (indicated by 1310) and another sensor in the historically wettest area of ​​the field (indicated as 1312).If the driest and wettest areas cannot be reached from a pivot position, a recommendation for better adjustment may be made to the operator who selects the driest area and the second wettest area as an example.

[0093] As illustrated in Figure 29, one or more 1350 vehicles can be used with the 1300 pivot irrigation system. Using the pivot irrigation system, two or more stationary locations can be selected by the operator using the 900 operator station and the 1300 pivot irrigation system, or a 1350 vehicle in the field could move between these locations on a schedule, as decided by the operator based on historical data or meteorological data collected from a meteorological data service, such as NOAA, or from a stationary sensor or an environmental sensor, such as a rain gauge or weather station positioned in the field, on the pivot irrigation system, or on a vehicle. Measurement passes can be programmed to rotate the 1300 pivot irrigation system or drive through the field with the 1350 vehicle while doing Petition 870260072309, dated 07 / 21 / 2026, page 37 / 109 34 / 42 sensor measurements without applying any input. After the measurements are completed, the operator or the control system can create an application plan to be applied during the next application pass. As illustrated, the 1350 vehicles can be fluidly coupled to the same water source 1352 as the pivot irrigation system 1300 or to a separate water source 1354.

[0094] As illustrated in Figure 30, in some embodiments, a vehicle 1350 connected to the pivot liquid source 1352 can be connected via a rotating connection 1356 to avoid wrapping the conduit 1360 driven by the vehicle 1350 around the pivot liquid source 1352 as the pivot irrigation system 1300 and the vehicle 1350 move through the field on separate paths. In another embodiment, the clearance height 1375 under the pivot irrigation system 1300 is greater than a height 1376 of the vehicle 1350 such that the vehicle 1350 is able to move around the pivot liquid source 1352 to avoid wrapping the conduit when moving from one location in the field to another. In another embodiment, a portion 1377 near the liquid source can be lowered to provide a path for the vehicle to pass over the pivot irrigation system 1300 without making contact.The 1300 pivot irrigation system can also be raised to a position labeled 1378 so that a portion of its length provides sufficient clearance for vehicle 1350 to pass underneath.

[0095] The operator system 900 can be used to control the pivot irrigation system 1300 and the vehicle or vehicles 1350, such as one or more of the vehicle embodiments described herein. During an application event, the pivot irrigation system 1300 can apply a single rate to its application area, and the vehicle 1350 can move to areas that need additional water and supplement the amount applied by the pivot irrigation system. Petition 870260072309, dated 07 / 21 / 2026, page 38 / 109 35 / 42 The 1300 pivot irrigation system can meet the crop needs in that area, as directed by the operator or by environmental sensors connected to the operator system 900 and mounted on the vehicle, pivot, or stationary in the field. The pivot rate of the 1300 pivot irrigation system can be the maximum rate required for the wettest area of ​​the field, as determined from historical data collected from sensors. The 1350 vehicle can then supplement enough water to meet the maximum rate required for all other areas, including the driest area of ​​the field. The 1300 pivot irrigation system and the 1350 vehicle can each apply the required rate in combination to match the rate for an area, as directed by a prescription plan provided by the operator. The 1350 vehicle can also apply all the liquid needed for soil that is not part of the reachable application area of ​​the 1300 pivot irrigation system, such as the corners of a field.Following an application event, the 1350 vehicle can be used to apply liquid to areas of the field with lower retention capacity or a higher crop consumption rate than other areas. As the area of ​​the field requiring application increases, as determined by the operator or the control system via sensor measurements, the control system would direct the 1300 pivot irrigation system to apply a base rate while simultaneously applying liquid through the 1350 vehicle(s). The 540 controller can direct the 1350 vehicle to apply in areas ahead of the 1300 pivot irrigation system to allow the 1350 vehicle to drive on dry ground. For example, the 1350 vehicle could be applying in the northeast quadrant of the field, while the 1300 pivot irrigation system begins application in the southeast quadrant.Vehicle 1350 would then move to the northwest quadrant and pivot irrigation system 1300 would enter the northeast quadrant. Controller 540 can... Petition 870260072309, dated 07 / 21 / 2026, page 39 / 109 36 / 42 Calculate the time required for the 1300 pivot irrigation system and the 1350 vehicle, and adjust the timing of when both are started and the rate each applies to ensure that the 1350 vehicle remains ahead of the 1300 pivot irrigation system. In some implementations, the 1350 vehicle parks near the liquid source while the 1300 pivot irrigation system applies liquid and is passed by the 1300 pivot irrigation system until the 1300 pivot irrigation system finishes applying. In other implementations, the 1350 vehicle moves in a small circle around the 1352 pivot irrigation system liquid source ahead of or behind the 1300 pivot irrigation system as it performs the application and then moves to areas that need extra application after the 1300 pivot irrigation system has finished its application.

[0096] As illustrated in Figure 31, vehicle 1350 can be connected via a conduit 1380 to an external end of the pivot irrigation system 1300 to access a liquid supply. The 1350 vehicle travels with the 1300 pivot irrigation system as it moves and can be applied to areas outside the 1300 pivot irrigation system's application area. If an end gun was previously used on the 1300 pivot irrigation system, it can be removed and replaced by the 1350 vehicle, and the booster pump that is often used with end guns can be used to provide the necessary pressure to supply liquid to the 1350 vehicle. The 1350 vehicle can travel ahead of the 1300 pivot irrigation system's path and dispense extra conduit so that the 1300 pivot irrigation system can continue to move forward while the 1350 vehicle is at a distance from the 1300 pivot irrigation system.In another embodiment, the 1300 pivot irrigation system stops while vehicle 1350 applies irrigation to an area and moves forward after vehicle 1350 has returned. Petition 870260072309, dated 07 / 21 / 2026, page 40 / 109 37 / 42

[0097] As illustrated in Figure 32, a secondary conduit reel 1400 is mounted at the end of the pivot irrigation system 1300. The conduit 1380 is carried by the reel 1400 and a reel 1410 on the vehicle 1350. One end of the conduit 1380 is connected to the pivot reel 1400 and the other to the vehicle reel 1410. As the vehicle 1350 prepares to apply liquid to an area requiring a known length of conduit, the vehicle 1350 optionally moves so that the vehicle reel 1410 and the pivot reel 1400 are aligned so that the conduit 1380 is suspended between the two reels in a reasonably straight line. The 540 controller can calculate the time that vehicle 1350 will spend away from the pivot irrigation system 1300 and the distance that the pivot irrigation system 1300 will travel during that time.The controller 540 then optionally turns both reels to transfer the required amount of conduit from vehicle reel 1410 to pivot reel 1400 so that the pivot irrigation system 1300 can advance and dispense conduit 1380 until vehicle 1350 has returned. After pivot reel 1400 is loaded, vehicle 1350 optionally follows an application path while dispensing conduit from vehicle reel 1410 onto the ground until it reaches the end of its path. Vehicle 1350 then optionally reverses and winds up conduit 1380, including conduit dispensed onto the ground by pivot reel 1400, until it has realigned with pivot reel 1400 and conduit 1380 is suspended between the two reels. The process is then optionally repeated until the field is completed or the areas requiring application have been covered.

[0098] In another embodiment of an irrigation vehicle 1500 illustrated in Figure 33, a series of fluid conduit sections 1502 can be stored in a storage area 1504. The storage area 1504 can be a tub, a shelf or a Petition 870260072309, dated 07 / 21 / 2026, page 41 / 109 38 / 42 rolling drum with receiving areas for capturing individual fluid conduit sections 1502. The fluid conduit sections 1502 may be hose, pipe, or other types of fluid conduits. Each conduit has a corresponding connector consisting of a first end 1506 and a second end 1508. The first end of a first conduit is connected to the second end of a second conduit forming a continuous length that is connected to a water supply. As the vehicle 1500 advances through a row crop field, it dispenses the last fluid conduit at a rate equal to the vehicle's speed along a guide rail 1510. The second end 1508 of the last fluid conduit is connected to a primary connector 1512. The primary connector 1512 receives fluid through the combined length of conduits and passes the fluid through a flexible hose 1514.As the last fluid conduit reaches the end of the guide track, the flexible hose 1514 is fully extended. The flexible hose 1514 is connected to a liquid supply tube 1520 of vehicle 1500, allowing the liquid to be dispensed along a length of a boom 1522 of vehicle 1500.

[0099] After the last fluid conduit 1502 reaches one end of the guide rail 1510, vehicle 1500 is stopped and the water supply is interrupted. The primary connector 1512 is disconnected from the first end 1506 and retracts to the opposite end of the guide rail 1510. A new fluid conduit 1502 is dropped from storage area 1504 onto the guide rail 1510. The first end 1506 of the last conduit is connected to the second end 1508 of the new conduit in a connection zone 1530. The primary connector 1512 is connected to the first end 1506 of the new conduit and the water supply is restarted. Vehicle 1500 Petition 870260072309, dated 07 / 21 / 2026, page 42 / 109 39 / 42 advances and the process is repeated until vehicle 1500 reaches a desired stopping point or all available fluid conduits 1502 are used. Vehicle 1500 then reverses direction and the process is reversed with fluid sections being removed from the combined length of the conduits and each removed fluid section being restored to the storage area 1504.

[00100] Further details of the connection zone 1530 are illustrated in Figure 34. The first end 1506 of a conduit section is held in place by the retaining arms 1550. The arms 1550 can be selectively actuated by actuators 1552 to retain the first end 1506 while it is connected or disconnected to the next fluid conduit section or to the primary connector 1512. In one embodiment, the connectors are threaded and rotated to provide a watertight connection, for example, with a twist lock, pressure connection or other connector styles that may be used. The second end 1508 of the next fluid conduit section is pulled towards the first end 1506 of the last conduit using pull arms 1555 which can translate along the guides 1556 and be actuated by actuators 1552.Since the ends are ready to be connected or disconnected, the second end can be rotated by a motor 1560 through a gear 1562 to the corresponding teeth on the outside of the second end 1508.

[00101] Other details of the primary connector 1512 are illustrated in Figure 35. One end of the primary connector 1512 is designed with the same connection features as the second end 1508 of the fluid conduit sections 1502. As the primary connector 1512 is actuated along the guide rail 1510, the end is actuated to allow the connection to occur. In an embodiment where both the first and second ends are threaded, the end of Petition 870260072309, dated 07 / 21 / 2026, page 43 / 109 The 40 / 42 connection of the primary connector 1512 can be rotated in a rotating joint 1570. The rotating joint 1570 may include a sealing face 1572, a seal 1574, such as an O-ring, and a joint collar 1576 that allows rotation but not separation of the joint. The rotation may be driven by a motor 1580 through a gear 1582 aligned with the mating teeth 1584 on the outside of the primary connector 1512.

[00102] Figure 36 schematically illustrates a field that has a water supply of 1700. The water supply can be a well, a river, a lake, or another body of water. The body of water can be supplied by tiles placed in the field. The water supply of 1700 can be in the center of the field, such as a pivot irrigation well. A drag hose 1702 is connected to the water supply 1700 and to a supply vehicle 1704. The supply vehicle 1704 carries a supply conduit 1712 stored on a reel that is connected to an agricultural input applicator vehicle 1710 to supply water through the vehicle 1710. The vehicle 1710 moves in the direction of the crop plants while irrigating and drags the supply conduit 1712 off the reel onto the supply vehicle 1704. After the vehicle 1710 completes a pass and reaches the edge of the field, it reverses its direction of travel and moves towards the supply vehicle 1704.It can apply liquid both during the outward and return journeys in this passage. The refueling vehicle 1704 rotates the reel to retract the conduit. After vehicle 1710 reaches refueling vehicle 1704, it connects to refueling vehicle 1704 via the vehicle's locking points (Figure 4) and moves it to the center of the next passage. The drag hose 1702 remains connected to refueling vehicle 1704 and is dragged along the ground until the center of the next passage is reached. Petition 870260072309, dated 07 / 21 / 2026, page 44 / 109 41 / 42 reached. Vehicle 1710 activates a path in such a way that the drag hose 1702 maintains a J shape. Once the center of the new passage is reached, vehicle 1710 is disconnected from the supply vehicle 1704 and begins pulling the conduit out while irrigating that passage. The process is repeated for any passage in the field that has been designated by the operator to be irrigated.

[00103] Figure 37 illustrates water supply 1700 in the middle of the field. Vehicle 1710, while carrying a reel as discussed herein, dispenses with the conduit 1790 as it moves through the middle of the field until it reaches the center of a crop passage designated by the operator for irrigation. At this point, the vehicle turns 90 degrees to align with the rows and advances while applying the liquid until it reaches the end of the passage. Then, it reverses to the middle of the field. It can also irrigate during the reversal. After reaching the middle of the field, as illustrated in Figure 38, vehicle 1710 reverses towards the water supply 1700 to retract the conduit until the original 90-degree turn has been eliminated. Subsequently, as illustrated in Figure 39, vehicle 1710 then turns 90 degrees in the opposite direction to complete the lower half of the passage to be irrigated and returns to the middle of the field.The vehicle then extends or retracts the conduit in the middle of the field to align with the center of a new irrigation passage, repeating the process.

[00104] Figure 40 illustrates multiple paths for a vehicle operating from a water supply 1700 in an irregularly shaped field F that includes a primary path 1800 extending the length of one dimension of the field. As the vehicle 1710 moves to a location to apply a liquid, the vehicle 1710 may follow the primary line 1800 before turning ninety degrees to align. Petition 870260072309, dated 07 / 21 / 2026, p. 45 / 109 42 / 42 with a passage and move along that passage until reaching the application site. In other embodiments, the 1710 vehicle may travel along a primary line 1800 to a portion of the field, but then follow a secondary line 1810 that connects to the primary line 1800, but on a different heading, to reach an area of ​​the field in a shorter path than the primary line 1800. In some implementations, the 1710 vehicle uses less conduit length when traveling and dispensing along the secondary line 1810 than if it had followed the primary line and turned ninety degrees to follow a passage to the field. Once the application site is reached, the secondary line 1810 may run parallel to the primary line 1800, and the 1710 vehicle may turn ninety degrees from the secondary line to align with a passage and apply liquid at that passage.

[00105] Various modifications to the embodiments and to the general principles and characteristics of the apparatus, systems and methods described herein will be readily apparent to those skilled in the art. Thus, the preceding description should not be limited to the embodiments of the apparatus, systems and methods described and illustrated in the figures of the drawing. Petition 870260072309, dated 07 / 21 / 2026, page 46 / 109

Claims

1 / 6 CLAIMS 1. Agricultural input applicator vehicle (100) for applying liquid products to crop rows in a field with crops growing in adjacently spaced rows, the agricultural input applicator vehicle comprising: a reel (402) supported at a height above the ground surface by a structure (110, 406) and defining an axis of rotation extending in a direction transverse to the crop rows, the reel positioned between the first and second adjacently spaced crop rows and further defining a width along the axis of rotation less than a distance between said first and second adjacent crop rows; a boom structure (120) extending laterally along the axis of rotation on each side of the reel;a plurality of drop assemblies (150) supported by and laterally adjacently spaced along the boom structure such that each assembly of the plurality of drop assemblies is positioned between adjacently spaced crop rows; an irrigation hose (420) positioned on the reel and configured to be dispensed from the reel and retracted onto the reel; characterized in that it further comprises: a conduit sensor (626) configured to capture a position of a portion of the irrigation hose relative to the structure and to detect an amount of irrigation hose tension based on the captured position; a reel control mechanism (622) operable to adjust the reel rotation speed so that the detected irrigation hose tension is within a defined limit.

2. Agricultural input application vehicle, according to claim 1, characterized in that it further comprises: Petition 870260072309, dated 07 / 21 / 2026, page 47 / 109 2 / 6 a first wheel assembly that supports the structure on one side of the reel; and a second wheel assembly that supports the structure on the other side of the reel, opposite the first side.

3. Agricultural input application vehicle, according to claim 1 or 2, characterized in that it further comprises: a plurality of wheel assemblies (112) that support the structure and are operable to position the structure throughout the field; and a power source coupled with the plurality of wheel assemblies to power the plurality of wheel assemblies.

4. Agricultural input application vehicle, according to claim 3, characterized in that the power source is a generator supported by the structure.

5. Agricultural input application vehicle, according to claim 3, characterized in that the structure supports a power cable reel (520) that holds a power cable (522), the power cable being connected to the power source and operable to be dispensed from the power cable reel by movement of the liquid dispensing device.

6. Agricultural input application vehicle, according to claim 5, characterized in that it further comprises an operable power cable control system for controlling the position of the power cable relative to the power cable reel.

7. Agricultural input application vehicle, according to claim 5 or 6, characterized in that the power source provides three-phase power through the power cable.

8. Agricultural input application vehicle, according to any one of claims 5 to 7, characterized in that the power cable is connected to the irrigation hose. Petition 870260072309, dated 07 / 21 / 2026, page 48 / 109 3 / 6 9. Agricultural input application vehicle, according to claim 3, characterized in that it further comprises a power cable connected to the structure and operable to provide power to the vehicle.

10. Agricultural input application vehicle, according to claim 3, characterized in that the power source includes a battery.

11. Agricultural input application vehicle, according to claim 10, characterized in that it further comprises a cart (602) that is mobile in a direction parallel to the axis of rotation when the irrigation hose is dispensed from the reel and retracted onto the reel.

12. Agricultural input application vehicle, according to claim 1, characterized in that it further comprises a shield (430, 450) coupled to the structure and positioned between the reel and the crops.

13. Method of applying agricultural inputs within a field, the field having adjacently spaced crop rows (R1, R2, R3, R4), the method comprising the steps of: traversing the field in a first direction with a crop applicator vehicle (100, 400, 2350), the crop applicator vehicle having a wheel-supported structure, wherein at least one of the wheels is driven for rotation by a motor at a wheel drive speed, the structure supporting a rotating reel (402, 1410) positioned between two of the adjacently spaced crop rows, a fluid conduit wound over the rotating reel, one end of the fluid conduit communicating with a source of agricultural inputs; driving the rotation of the rotating reel at a rotational speed to distribute a length of the fluid conduit of Petition 870260072309, dated 21 / 07 / 2026, p.49 / 109 4 / 6 rotating reel for the ground between two of the adjacently spaced crop rows while the crop applicator vehicle traverses said field; characterized in that it comprises capturing the position of a portion of the fluid conduit relative to the structure of the crop applicator vehicle; detecting a quantity of fluid conduit tension based on the captured position; and adjusting the rotational speed of the rotating reel so that the detected fluid conduit tension is within a defined limit.

14. Method according to claim 13, characterized in that it further comprises: controlling the rotational speed of the rotary reel based on the speed of the crop applicator vehicle.

15. A method according to claim 13 or 14, characterized in that it further comprises: determining a target application rate of agricultural inputs for a defined area within the field; and adjusting the speed of the crop application vehicle based on the target rate.

16. Method, according to any one of claims 13 to 15, characterized in that the source of agricultural inputs is a pivot irrigation setup (1300).

17. Method, according to any one of claims 13 to 16, characterized in that the crop applicator vehicle includes a sensor (180) and a weed drop assembly (170), the method further comprising: identifying a candidate plant with the sensor; removing the candidate plant with the weed drop assembly. Petition 870260072309, dated 21 / 07 / 2026, p. 50 / 109 5 / 6 18. Method according to claim 13, characterized in that the source of agricultural inputs is a hydrant of a supply line (1100) positioned within the field.

19. Method according to claim 13, characterized in that the source of agricultural inputs is a supply vehicle (200), the method further comprising: connecting the supply vehicle to the crop applicator vehicle; and moving the crop applicator vehicle in tandem with the supply vehicle.

20. Method according to claim 13, characterized in that the source of agricultural inputs is a container (142) disposed in the crop applicator vehicle.

21. Method according to claim 20, characterized in that it further comprises: connecting the supply vehicle to the crop application vehicle, the supply vehicle carrying a supply of agricultural inputs, the supply vehicle delivering the agricultural inputs to the container located on the crop application vehicle; disconnecting the supply vehicle from the crop application vehicle before the crop application vehicle crosses the field.

22. Method according to claim 13, characterized in that it further comprises: activating the rotation of the rotary reel at a rotational speed to repackage the fluid conduit onto the rotary reel while the crop applicator vehicle traverses the field in a second direction opposite to the first direction; capturing the position of the fluid conduit relative to the structure while the vehicle traverses the field in the second direction; detecting a quantity of fluid conduit tension based on the position captured while the vehicle traverses the field in the second direction; and adjusting the rotational speed of the rotary reel so that the tension detected in the fluid conduit is within a defined limit while the vehicle traverses the field in the second direction.

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