Autonomous integrated farming system

Abstract

A farming system includes a field engagement unit. The field engagement unit includes a support assembly. The support assembly includes one or more work tool track assemblies. The field engagement unit also includes one or more propulsion units, which provide omnidirectional control of the field engagement unit. The engagement unit also includes one or more work tool assemblies. The one or more work tool assemblies can be actuated along the one or more work tool track assemblies. The farming system further includes a controller. The controller includes one or more processors, which are configured to execute a set of program instructions stored in a memory. The program instructions are configured to cause the one or more processors to control one or more components of the field engagement unit. A livestock handling system is also provided.

Description

[0001] This application is a divisional application of the Chinese invention patent application with the application date of December 19, 2016, application number 201680080407.7, and invention name “Autonomous combined farming system”. Technical Field

[0002] The present invention generally relates to a self-propelled farming system, and more particularly to an autonomous farming system capable of performing various farming activities. Background Art

[0003] Self-propelled irrigation systems including central pivot systems and lateral movement systems have irrigation towers driven by drive motors mechanically coupled to gearboxes and / or electric drive systems. Although cost-effective, these propulsion systems are complex and utilize a large number of components that result in low reliability. A large number of components increase the weight of the propulsion system, and therefore increase the weight of the self-propelled irrigation system, which causes the irrigation system to use more energy than required to propel the irrigation system. In addition, heavy irrigation systems usually form deep ruts in the ground along each path of the irrigation tower. When these ruts are formed on hills, the ruts form ditches for water movement, promoting the erosion process. In addition, during field (field, land, field, pasture) operations, the ruts can also cause damage to agricultural facilities that travel through the ruts.

[0004] Furthermore, the technology of self-propelled propulsion systems is often only suitable for use in irrigation applications. For example, a self-propelled irrigation system propulsion system is designed to move at speeds that can only be used for irrigation. As another example, the guidance technology of the propulsion system implements a set of limit switches. The limit switches are designed to allow one irrigation system span device to be advanced in front of another span device to the extent allowed by the span device specific limit switch, at which point the span device specific limit switch closes until the remaining span devices catch up. The propulsion system of a particular span device can only be used when the limit switch for that particular span device is engaged, meaning that the span device is constantly stopping and starting movement as it travels through the field. In this manner, the span device may experience severe structural fatigue. Frequent starting and stopping is difficult for the structure of the irrigation system and the corresponding drive system. In the case of a center pivot, the drive system of the irrigation tower farthest from the center point will run in the "ON" state longer than the drive system of the innermost irrigation tower.

[0005] Irrigation towers are built as A-frames at a fixed height and angle relative to the ground. The fixed height makes it difficult for the propulsion system to drive the irrigation system over any uneven ground. For example, when the irrigation system is climbing a slope, the fixed height causes the irrigation system to spray the field at different heights, resulting in uneven coverage.

[0006] Additionally, the irrigation system is constructed from an inverted bow-shaped truss assembly. The truss assembly provides support for irrigation fluid conduits that extend the length of the irrigation system. The truss assembly is designed to be coupled only to one or more irrigation nozzles, rendering the irrigation system largely unusable for other applications.

[0007] It would therefore be desirable to provide systems and methods that overcome the shortcomings of previous approaches as described above. Summary of the invention

[0008] According to one or more embodiments of the present disclosure, a farming system is disclosed. In one illustrative embodiment, the farming system includes a field engagement unit. In another illustrative embodiment, the field engagement unit includes a support assembly. In another illustrative embodiment, the support assembly includes one or more work tool track assemblies. In another illustrative embodiment, the field engagement unit includes one or more propulsion units. In another illustrative embodiment, the one or more propulsion units provide omnidirectional control of the field engagement unit. In another illustrative embodiment, the field engagement unit includes one or more work tool assemblies. In another illustrative embodiment, one or more work tool assemblies can be actuated along the one or more work tool track assemblies. In another illustrative embodiment, the farming system includes a local controller. In another illustrative embodiment, the local controller includes one or more processors configured to execute a set of program instructions stored in a memory. In another illustrative embodiment, the program instructions are configured to enable the one or more processors to control one or more components of the field engagement unit.

[0009] In another embodiment, the farming system includes one or more material storage containers.

[0010] According to one or more embodiments of the present disclosure, a farming system is disclosed. In one illustrative embodiment, the farming system includes a field engagement unit. In another illustrative embodiment, the field engagement unit includes a support assembly. In another illustrative embodiment, the support assembly includes a support frame. In another illustrative embodiment, the support assembly includes one or more work tool track assemblies. In another illustrative embodiment, the support assembly includes one or more support structures. In another illustrative embodiment, the one or more support structures are actuable. In another illustrative embodiment, the field engagement unit includes one or more propulsion units coupled to one or more support structures of the support assembly through one or more steering assemblies. In another illustrative embodiment, the one or more propulsion units provide omnidirectional control of the field engagement unit. In another illustrative embodiment, the field engagement unit includes one or more work tool assemblies. In another illustrative embodiment, the one or more work tool assemblies are actuable along the one or more work tool track assemblies. In another illustrative embodiment, the field engagement unit includes one or more material storage containers. In another illustrative embodiment, the farming system includes a local controller. In another illustrative embodiment, the local controller includes one or more processors configured to execute a set of program instructions stored in a memory. In another illustrative embodiment, the program instructions are configured to cause the one or more processors to control one or more components of the field engagement unit.

[0011] According to one or more embodiments of the present disclosure, a farming system is disclosed. In one illustrative embodiment, the farming system includes a plurality of field engagement units. In another illustrative embodiment, the plurality of field engagement units include a support assembly. In another illustrative embodiment, the support assembly includes one or more work tool track assemblies. In another illustrative embodiment, the support assembly includes one or more propulsion units. In another illustrative embodiment, the support assembly includes one or more work tool assemblies. In another illustrative embodiment, the one or more work tools can be actuated along the one or more work tool track assemblies. In another illustrative embodiment, the plurality of field engagement units include one or more material storage containers. In another illustrative embodiment, the plurality of field engagement units include a local controller. In another illustrative embodiment, the local controller includes one or more local processors configured to execute a set of program instructions stored in a local memory. In another illustrative embodiment, the program instructions are configured to cause the one or more local processors to control one or more components of the plurality of field engagement units. In another illustrative embodiment, the farming system includes a central controller. In another illustrative embodiment, the central controller includes one or more processors configured to execute a set of program instructions stored in a memory. In another illustrative embodiment, the central controller is communicatively coupled to each local controller of the plurality of field engagement units. In another illustrative embodiment, the program instructions are configured to cause the one or more processors to coordinate one or more actions of two or more of the plurality of field engaging units.

[0012] According to one or more embodiments of the present disclosure, an agricultural processing system is disclosed. In one illustrative embodiment, the agricultural processing system includes a coupling unit. In another illustrative embodiment, the coupling unit includes a support assembly. In another illustrative embodiment, the support assembly includes one or more work tool track assemblies. In another illustrative embodiment, the support assembly includes one or more propulsion units. In another illustrative embodiment, the one or more propulsion units provide omnidirectional control of the coupling unit. In another illustrative embodiment, the support assembly includes one or more work tool assemblies. In another illustrative embodiment, the one or more work tool assemblies can be actuated along the one or more work tool track assemblies. In another illustrative embodiment, the one or more work tool assemblies are configured to engage a livestock paddock or livestock fence. In another illustrative embodiment, the coupling unit includes one or more material storage containers. In another illustrative embodiment, the agricultural processing system includes a local controller. In another illustrative embodiment, the local controller includes one or more processors configured to execute a set of program instructions stored in a memory. In another illustrative embodiment, the program instructions are configured to cause the one or more processors to control one or more components of the coupling unit.

[0013] According to one or more embodiments of the present disclosure, a support assembly is disclosed. In one illustrative embodiment, the support assembly includes one or more work tool track assemblies. In another illustrative embodiment, the support assembly includes one or more work tool assemblies. In another illustrative embodiment, the one or more work tool assemblies can be actuated along the one or more work tool track assemblies. In another illustrative embodiment, the one or more work tool assemblies include a carrier. In another illustrative embodiment, the one or more work tool assemblies include a frame. In another illustrative embodiment, the one or more work tool assemblies include a work tool attachment.

[0014] According to one or more embodiments of the present disclosure, a farming system is disclosed. In an illustrative embodiment, the farming system includes a field engagement unit, and the field engagement unit includes a support assembly. In an illustrative embodiment, the support assembly includes one or more work tool track assemblies. In an illustrative embodiment, the support assembly also includes one or more support structures. In an illustrative embodiment, the support assembly is composed of a support frame. In an illustrative embodiment, the support frame is composed of a main support frame section and one or more support frame arms. In an illustrative embodiment, the field engagement unit includes one or more propulsion units. In an illustrative embodiment, the one or more propulsion units provide omnidirectional control of the field engagement unit. In an illustrative embodiment, the field engagement unit includes one or more work tool assemblies. In an illustrative embodiment, the one or more work tool assemblies can be actuated along the one or more work tool track assemblies. In an illustrative embodiment, the field engagement unit includes one or more material storage containers. In an illustrative embodiment, the farming system includes a local controller. In an illustrative embodiment, the local controller includes one or more processors configured to execute a set of program instructions stored in a memory. In an illustrative embodiment, the program instructions are configured to enable the one or more processors to control one or more components of the field engagement unit.

[0015] According to one or more embodiments of the present disclosure, a farming system is disclosed. In one illustrative embodiment, the farming system includes a center pivot engagement unit. In another illustrative embodiment, the center pivot engagement unit includes a support assembly. In another illustrative embodiment, the support assembly includes one or more work tool track assemblies. In another illustrative embodiment, the support assembly further includes one or more support structures. In another illustrative embodiment, the center pivot engagement unit includes one or more propulsion units. In another illustrative embodiment, the center pivot engagement unit includes one or more work tool assemblies. In another illustrative embodiment, the one or more work tool assemblies can be actuated along the one or more work tool track assemblies. In another embodiment, the center pivot engagement unit includes one or more material storage containers. In another illustrative embodiment, the farming system includes a center pivot drive system configured to drive one or more propulsion units of the center pivot field engagement unit. In another illustrative embodiment, the one or more propulsion units provide rotational control of the center pivot field engagement unit. In another illustrative embodiment, the farming system includes a local controller. In another illustrative embodiment, the local controller includes one or more processors configured to execute a set of program instructions stored in a memory. In another illustrative embodiment, the program instructions are configured to cause the one or more processors to control one or more components of the center pivot field engaging unit.

[0016] It is to be understood that the foregoing general description and the following detailed description are only exemplary and explanatory and do not necessarily limit the present disclosure. The accompanying drawings, which are included and constitute part of the features, illustrate the subject matter of the present disclosure. The specification and the accompanying drawings are used together to explain the principles of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Many advantages of the present disclosure may be better understood by those skilled in the art with reference to the accompanying drawings, in which:

[0018] Figure 1A A block diagram of a farming system according to one or more embodiments of the present disclosure is shown.

[0019] Figure 1B A block diagram of a farming system according to one or more embodiments of the present disclosure is shown.

[0020] Figure 1C A block diagram of a farming system according to one or more embodiments of the present disclosure is shown.

[0021] Figure 1D A block diagram of a farming system according to one or more embodiments of the present disclosure is shown.

[0022] Figure 1EA block diagram of a farming system according to one or more embodiments of the present disclosure is shown.

[0023] Figure 1F A block diagram of a farming system according to one or more embodiments of the present disclosure is shown.

[0024] Figure 1G A process flow diagram for controlling one or more components of a farming system according to one or more embodiments of the present disclosure is shown.

[0025] Figure 1H A process flow diagram for controlling one or more components of a farming system according to one or more embodiments of the present disclosure is shown.

[0026] Fig. 1I A field engaging unit of a farming system according to one or more embodiments of the present disclosure is shown.

[0027] Figure 1J A field engaging unit of a farming system according to one or more embodiments of the present disclosure is shown.

[0028] Figure 1K A field engaging unit of a farming system according to one or more embodiments of the present disclosure is shown.

[0029] Figure 2A A field engaging unit of a farming system according to one or more embodiments of the present disclosure is shown.

[0030] Figure 2B A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0031] Figure 2C A work tool track assembly of a site engaging unit is shown in accordance with one or more embodiments of the present disclosure.

[0032] Figure 2D A field engaging work tool rail assembly is shown in accordance with one or more embodiments of the present disclosure.

[0033] Figure 2E A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0034] Figure 2F A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0035] Figure 2G A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0036] Figure 2HA work tool track assembly of a site engaging unit is shown in accordance with one or more embodiments of the present disclosure.

[0037] Fig.2I A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0038] Figure 2J A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0039] Figure 2K A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0040] Figure 3A A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0041] Figure 3B A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0042] Figure 3C A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0043] Figure 3D A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0044] Figure 3E A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0045] Figure 3F A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0046] Figure 3G A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0047] Figure 3H A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0048] Fig. 3I A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0049] Figure 3J A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0050] Figure 4AA propulsion unit of a site engagement unit according to one or more embodiments of the present disclosure is shown.

[0051] Figure 4B A propulsion unit of a site engagement unit according to one or more embodiments of the present disclosure is shown.

[0052] Figure 4C A propulsion unit of a site engagement unit according to one or more embodiments of the present disclosure is shown.

[0053] Figure 4D A propulsion unit of a site engagement unit according to one or more embodiments of the present disclosure is shown.

[0054] Figure 4E A propulsion unit of a site engagement unit according to one or more embodiments of the present disclosure is shown.

[0055] Figure 4F A propulsion unit of a site engagement unit according to one or more embodiments of the present disclosure is shown.

[0056] Figure 4G A propulsion unit of a site engagement unit according to one or more embodiments of the present disclosure is shown.

[0057] Figure 4H A propulsion unit of a site engagement unit according to one or more embodiments of the present disclosure is shown.

[0058] Fig. 4I A propulsion unit of a site engagement unit according to one or more embodiments of the present disclosure is shown.

[0059] Figure 5A A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0060] Figure 5B A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0061] Figure 5C A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0062] Figure 5D A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0063] Figure 5E A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0064] Fig. 5FA support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0065] Figure 5G A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0066] Figure 5H A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0067] Fig.5I A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0068] Fig. 6A A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0069] Figure 6B A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0070] Figure 6C A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0071] Fig.6D A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0072] Fig. 6E A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0073] Fig. 6F A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0074] Figure 6G A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0075] Fig. 7A A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0076] Figure 7B A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0077] Figure 7C A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0078] Fig.7DA work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0079] Fig. 8A A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0080] Figure 8B A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0081] Figure 8C A weeding attachment of a field engaging unit according to one or more embodiments of the present disclosure is shown.

[0082] Fig.8D A weeding attachment for a field engaging unit according to one or more embodiments of the present disclosure is shown.

[0083] Fig. 8E A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0084] Fig. 9A A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0085] Fig. 9B A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0086] Fig. 10A A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0087] Fig. 10B A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0088] Fig. 10C A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0089] Fig. 10D A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0090] Fig. 10E A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0091] Fig.10F A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0092] Figure 10G A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0093] Fig. 10H A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0094] Fig.11A A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0095] Fig. 11B A process flow diagram for controlling a planting attachment of a work tool assembly is shown in accordance with one or more embodiments of the present disclosure.

[0096] Fig. 11C A venue is shown in accordance with one or more embodiments of the present disclosure.

[0097] Fig.11D A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0098] Fig.11E A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0099] Fig.11F A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0100] Fig.11G An implant attachment of a work tool assembly according to one or more embodiments of the present disclosure is shown.

[0101] Fig.11H An implant attachment of a work tool assembly according to one or more embodiments of the present disclosure is shown.

[0102] Fig.11I A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0103] Fig.11J A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0104] Figure 11K A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0105] Fig.11L A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0106] Fig. 12AA work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0107] Fig. 12B A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0108] Fig. 12C A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0109] Fig.13 A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0110] Fig.14A A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0111] Fig. 14B A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0112] Fig. 14C A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0113] Fig.14D A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0114] Fig.14E A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0115] Fig.14F A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0116] Fig.15A A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0117] Fig. 15B A support assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0118] Fig. 15C An electric power source working tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0119] Fig.15D A carrier for an electric power source working tool assembly according to one or more embodiments of the present disclosure is shown.

[0120] Fig.15EA work tool rail assembly of an electric power source work tool assembly is shown in accordance with one or more embodiments of the present disclosure.

[0121] Fig.15F A support structure for a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0122] Figure 15G A parallel electrical grid of field engaging units is shown in accordance with one or more embodiments of the present disclosure.

[0123] Fig.15H A work tool assembly of a site engaging unit according to one or more embodiments of the present disclosure is shown.

[0124] Fig.16A A hauling unit and a site engaging unit are shown according to one or more embodiments of the present disclosure.

[0125] Fig. 16B A traction unit and a field engaging unit are shown according to one or more embodiments of the present disclosure.

[0126] Fig. 16C A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0127] Fig.16D A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0128] Fig.16E A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0129] Fig.16F A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0130] Figure 16G A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0131] Fig.16H A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0132] Fig.16I A block diagram for controlling one or more field engagement units according to one or more embodiments of the present disclosure is shown.

[0133] Fig.16J A block diagram for controlling one or more field engagement units according to one or more embodiments of the present disclosure is shown.

[0134] Figure 16KA site engagement unit according to one or more embodiments of the present disclosure is shown.

[0135] Fig.17A A site engagement unit according to one or more embodiments of the present disclosure is shown.

[0136] Fig. 17B A center pivot farming system is shown in accordance with one or more embodiments of the present disclosure.

[0137] Fig. 17C A center pivot farming system is shown in accordance with one or more embodiments of the present disclosure.

[0138] Fig.17D A center pivot farming system is shown in accordance with one or more embodiments of the present disclosure.

[0139] Fig.18A A livestock paddock is shown in accordance with one or more embodiments of the present disclosure.

[0140] Fig.18B A livestock fence according to one or more embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0141] Reference will now be made in detail to the disclosed subject matter, which is illustrated in the accompanying drawings.

[0142] General reference Figures 1A to 18B , describes an integrated autonomous farming system and related methods according to one or more embodiments of the present disclosure. For the purposes of this disclosure, the term "integrated autonomous farming system" may be used interchangeably with the terms "farming system" and "full farming system (FFS)".

[0143] Embodiments of the present disclosure are directed to farming systems capable of performing one or more agricultural functions (i.e., farming and / or grazing functions) in an agricultural environment (e.g., a crop field, a livestock fence, etc.). Embodiments of the present disclosure are also directed to farming systems coupled to a central support shaft or capable of omnidirectional functions. Embodiments of the present disclosure are also directed to support assemblies of farming systems. Embodiments of the present disclosure are directed to support frames of support assemblies. Embodiments of the present disclosure are also directed to one or more height-fixed or adjustable strut assemblies of a support assembly. Embodiments of the present disclosure are also directed to one or more wheel-driven or track-driven propulsion units.

[0144] Embodiments of the present disclosure are also directed to one or more work tools on one or more work tool tracks coupled to a support assembly, wherein the work tools perform one or more functions in a field. Embodiments of the present disclosure are also directed to one or more material storage containers. Embodiments of the present disclosure are also directed to one or more transfer components to move irrigation liquid and product from at least one of the material storage containers to the work tools.

[0145] Embodiments of the present disclosure are also directed to one or more processors for receiving and transmitting one or more sets of information between one or more components of a farming system. Embodiments of the present disclosure are also directed to one or more processors for simultaneously actuating one or more components of a farming system based on one or more sets of information from one or more onboard or in-field sensors. Embodiments of the present disclosure are also directed to transporting the farming system.

[0146] Precision farming methods and systems that can be incorporated into the system 100 of the present disclosure are described in U.S. Patent Publication No. 2016 / 0255778, published on September 8, 2016, the entire contents of which are incorporated herein by reference. Plant treatment methods and systems that can be incorporated into the system 100 of the present disclosure are described in U.S. Patent Publication No. 2015 / 0027044, published on January 29, 2015, the entire contents of which are incorporated herein by reference.

[0147] Figures 1A to 1F A block diagram of an integrated autonomous farming system 100 is shown, in accordance with one or more embodiments of the present disclosure.

[0148] In one embodiment, the farming system 100 includes a field engagement unit 102. The field engagement unit 102 is configured to engage with a selected field or agricultural area of ​​interest in one or more modes. For example, the field engagement unit 102 allows the farming system 100 to autonomously or semi-autonomously perform one or more farming functions, such as but not limited to planting, fertilizing, weeding, applying herbicides, harvesting, etc. For another example, the field engagement unit 102 allows the farming system 100 to autonomously or semi-autonomously perform one or more grazing functions, such as but not limited to livestock and poultry management. It should be noted that the field engagement unit 102 may include any number and type of components and subsystems to implement the various modes of the field engagement unit 102, which will be described in further detail below.

[0149] In one embodiment, the field engaging unit 102 includes one or more support assemblies 104. For the purposes of this disclosure, a single field engaging unit 102 is generally described in the context of a single support assembly 104 for reasons of clarity. It is noted, however, that this configuration does not limit the scope of the present disclosure, as it is noted that the farming system 100 may include any number of field engaging units 102 (e.g., one, two, three, etc.), each of which may include any number of support assemblies 104 (e.g., one, two, three, etc.). In another embodiment, the support assemblies 104 of the field engaging unit 102 include one or more support frames 106, one or more work tool track assemblies 108, and one or more support structures 110.

[0150] In another embodiment, the field engagement unit 102 includes one or more propulsion units 112. In another embodiment, the field engagement unit 102 includes one or more work tool assemblies 114. For example, as further discussed herein, the one or more work tool assemblies 114 are coupled to the one or more work tool track assemblies 108. For another example, the one or more work tool assemblies 114 include one or more components, which will be discussed in further detail herein. In another embodiment, the field engagement unit 102 includes one or more power sources / power supply devices 116.

[0151] In another embodiment, the site engagement unit 102 includes one or more material storage containers 120. For example, as further discussed herein, the one or more material storage containers 120 may include one or more material (e.g., liquid or solid) storage containers disposed on the support assembly 104. For another example, as further discussed herein, the one or more material storage containers 120 may include one or more material storage containers disposed near but not on the support assembly 104.

[0152] In another embodiment, the site engaging unit 102 includes a manifold assembly 122. For example, as discussed further herein, the manifold assembly 122 can be configured to transport materials (eg, liquids, particles, etc.) throughout various portions of the support assembly 104.

[0153] It is noted here that the one or more material storage containers 120 may be separate from the site engaging unit 102. It is also noted here that the manifold assembly may include one or more parts separate from the site engaging unit 102. Therefore, the above description should not be construed as limiting the present invention, but merely illustrative.

[0154] For purposes of this disclosure, the phrase "one or more components of the field engagement unit 102" is understood to extend to at least, but not limited to, the following: a portion of one or more support assemblies 104; one or more support frames 106; one or more work tool track assemblies 108; one or more support structures 110; one or more propulsion units 112; one or more work tool assemblies 114; one or more components of the work tool assemblies 114, including but not limited to, carriers, frames and work tool accessories; one or more power sources 116; one or more material storage containers 120; and / or a manifold assembly 122.

[0155] In another embodiment, the farming system 100 includes one or more local controllers 130. The one or more local controllers 130 are configured to control any of a variety of functions of a portion of the farming system 100 that is located locally relative to one or more fields or agricultural areas of interest. For example, the one or more local controllers 130 can be programmed to control one or more functions of the field interface unit 102. For example, the one or more local controllers 130 can be programmed to transmit one or more sets of information to control one or more functions of any of the one or more components of the field interface 102. The one or more local controllers 130 can include a memory 134 and one or more processors 132. The one or more processors 132 can be configured to execute program instructions stored in the memory 134, which are configured to cause the one or more processors 132 to perform one or more of the various steps described throughout the present disclosure.

[0156] In another embodiment, the farming system 100 includes (or is configured to interact with) one or more user controllers 140. The one or more user controllers 140 may be configured to allow a user to remotely access and / or control the field engagement unit 102, the manifold assembly 122, and / or the material storage container 120 (or any other portion of the system 100) via the onboard local controller 130. The one or more user controllers 140 may include a memory 144 and one or more processors 142. The one or more processors 144 may be configured to execute program instructions stored in the memory 144, the program instructions being configured to cause the one or more processors 142 to perform one or more of the various steps described throughout the present disclosure.

[0157] In another embodiment, Figure 1C to Figure 1FAs shown, the one or more work tool assemblies 114 include one or more work tool controllers 160. The one or more work tool controllers 160 are configured to control any of the one or more work tool assemblies 114. For example, the one or more work tool controllers 160 can be programmed to control one or more functions of the work tool assembly 114. In another embodiment, the one or more work tool controllers 160 may include a memory 164 and one or more processors 162. The one or more processors 162 may be configured to execute program instructions stored in the memory 164, and the program instructions are configured to cause the one or more processors 162 to perform one or more of the various steps described throughout the present disclosure.

[0158] The one or more processors of the local controller 130, the user controller 140 and / or the work tool controller 160 may include any one or more processing elements known in the art. In general, the term "processor" can be broadly defined as covering any device having one or more processing elements that execute program instructions from a non-temporary storage medium. In one embodiment, the one or more processors 130 and / or 140 may include a computing device of any microprocessor type configured to execute software algorithms and / or instructions. The one or more processors 130 and / or 140 may be embodied as or include a personal computer system, a mobile device (e.g., a tablet, a smart phone, a laptop, etc.), a host computer system, a workstation, an image computer, a parallel processor, a networked computer, or any other computing device known in the art. In general, the term "computing device" can be broadly defined as covering any device with data processing or logic capabilities. It should be understood that the steps described throughout the present disclosure can be implemented by a single controller or alternatively by multiple controllers.

[0159] The memory 134, 144 and / or 164 may include any storage medium known in the art that is suitable for storing program instructions that can be executed by the associated one or more processors and / or suitable for storing one or more sets of results, one or more sets of information and / or one or more databases obtained from the various components and subsystems of the system 100. For example, the memory may include, but is not limited to: random access memory (RAM); read-only memory (ROM); or permanent storage such as a mass storage device, hard drive, CDROM, DVDROM, magnetic tape, erasable programmable read-only memory (EPROM or flash memory); any magnetic, electromagnetic, solid-state, infrared, optical or electrical system, device or device for storing information; or any other type of medium suitable for storing electronic data. For another example, the one or more groups of information may include, but are not limited to: one or more operating states of a component (e.g., startup, standby, completing assigned tasks, shutdown, etc.); one or more operating parameters of one or more operating conditions of a component (e.g., power consumption, power generation, motor speed, motor rotation capacity, volume of storage material, position coordinates of a component location (location, position, location) on the site engagement unit 102, position coordinates of a component location relative to other components on the site engagement unit 102, position coordinates of a component location relative to a location in the surrounding environment (e.g., weeds or rocks in the site), etc.); distance measurements between two or more components; one or more images from a component (e.g., phenotyping accessory 700); or one or more images from one or more environmental sensors.

[0160] In one embodiment, if Figure 1A As shown, the one or more user controllers 140 can be configured to communicate with one or more local controllers 130 of the system 100. For example, the user controller 140 and the local controller 130 can be communicatively coupled via one or more wired connections (e.g., direct fiber optic cables, direct copper wires, DSL-based interconnections, cable-based interconnections, T9-based interconnections, etc.). For another example, the user controller 140 and the local controller 130 can be communicatively coupled via one or more wireless connections (e.g., GSM, GPRS, CDMA, EV-DO, EDGE, WiMAX, LTE, WiFi, RF, LoRa, Bluetooth, custom wireless protocols, etc.).

[0161] In one embodiment, if Figure 1BAs shown, the one or more local controllers 130 and the one or more user controllers 140 can be configured to communicate with each other indirectly through one or more servers 136. For example, the local controller 130, the user controller 140 and the one or more servers 136 can each include a network interface circuit (not shown) for connecting to a network (not shown). The network interface circuit of the controller 130, the user controller 140 and / or the one or more servers 136 may include any network interface circuit known in the art. For example, the network interface circuit may include a wired-based interface device (e.g., DSL-based interconnection, cable-based interconnection, T9-based interconnection, etc.). For another example, the network interface circuit may include a wireless-based interface device using GSM, GPRS, CDMA, EV-DO, EDGE, WiMAX, LTE, WiFi protocols, RF, LoRa, etc.

[0162] In another embodiment, Figure 1C to Figure 1F As shown, the one or more work tool controllers 160 may be configured to communicate directly with the one or more local controllers 130. In another embodiment, the one or more work tool controllers 160, the one or more servers 136 and / or user controllers 140 (not shown) may be configured to communicate indirectly with each other via the local controller 130 through a network interface circuit.

[0163] In another embodiment, the one or more servers 136 are used as a cloud-based architecture for storing, analyzing and computing one or more of data received from or transmitted to the one or more local controllers 130, the one or more user controllers 140 and / or the one or more work tool controllers 160.

[0164] In another embodiment, the one or more user controls 140 are communicatively coupled to a user interface 146. For example, the user interface 146 includes a display 148 and / or a user input device 150.

[0165] In another embodiment, the display 148 includes any display device known in the art. For example, the display device may include, but is not limited to, a liquid crystal display (LCD). For another example, the display device may include, but is not limited to, a display based on an organic light emitting diode (OLED). For another example, the display device may include, but is not limited to, a CRT display. It will be appreciated by those skilled in the art that a variety of display devices may be suitable for implementing the present disclosure, and the specific selection of the display device may depend on various factors, including, but not limited to, form factor, cost, and the like. In general, any display device that can be integrated with a user input device (e.g., a touch screen, an embedded mounted interface, a keyboard, a mouse, a touch pad, and the like) is suitable for implementing the present disclosure.

[0166] In one embodiment, user input device 150 includes any user input device known in the art. For example, user input device 124 may include but is not limited to keyboard, small keyboard, touch screen, joystick, button, roller, tracking ball, switch, dial, slide bar, scroll bar, sliding device, handle, touch pad, manual remote control rod, steering wheel, joystick, embedded input device, etc. If it is a touch screen interface, it should be understood by those skilled in the art that a large number of touch screen interfaces can be used to implement the present disclosure. For example, display device 122 can be integrated with a touch screen interface, and the touch screen interface is such as but not limited to a capacitive touch screen, a resistive touch screen, a touch screen based on surface acoustics, a touch screen based on infrared, etc. In general, any touch screen interface that can be integrated with the display portion of a display device is suitable for implementing the present disclosure. In another embodiment, user input device 124 may include but is not limited to an embedded mounting interface.

[0167] In another embodiment (but not shown), the farming system 100 includes a local user interface communicatively coupled to the local controller 130. For example, the local user interface may include a display and / or a user input device. It should be noted here that the display and / or user input device of the local user interface may include any display and / or user input device known in the art.

[0168] In one embodiment, if Figure 1C to Figure 1E As shown, the one or more work tool assemblies 114 include one or more work tool sensors 166. In another embodiment, the one or more work tool sensors 166 are configured to communicate with the one or more work tool controllers 160. In another embodiment, the one or more work tool sensors 166 are configured to communicate indirectly with the local controller 130. In another embodiment, the one or more work tool sensors 166 are also configured to communicate indirectly with the user controller 140 through the one or more servers 136. In another embodiment, the one or more work tool sensors 166 help maintain the height and overall position of the work tool assembly 144 relative to the given instructions.

[0169] In another embodiment, the one or more work tool sensors 166 are configured to transmit one or more sets of information to the work tool controller 160. For example, the one or more sets of information may include one or more operating parameters of the work tool assembly 114, such as, but not limited to, power consumption, rotation speed of the actuator, rotation capacity of the actuator, level of material loaded in the coupled material storage container 120, position coordinates of the work tool assembly 114 on the site engagement unit 102, position coordinates of the work tool assembly 114 relative to other work tool assemblies 114, position coordinates of the work tool assembly 114 relative to surrounding locations (e.g., weeds or rocks in the site), distance coordinates from / to other work tool assemblies 114, and the like.

[0170] It is noted here that one or more components of the field engaging unit 102 may include one or more sensors. For example, the one or more sensors may include one or more linear encoders, one or more level measuring devices, one or more actuation sensors, and the like.

[0171] In another embodiment, Figure 1F As shown, the local controller 130 is configured to communicate with one or more in-field sensors 170. In one embodiment, the one or more in-field sensors 170 include one or more visual sensors disposed near one or more groups of plants. In another embodiment, the one or more in-field sensors 170 include one or more sensors embedded in the soil / protruding from the soil, wherein the one or more sensors measure moisture, nutrient content, nutrient composition, and similar soil conditions. In another embodiment, the one or more in-field sensors 170 include one or more proximity sensors disposed on one or more obstacles in the field (e.g., buildings, implement units, rocks, above-ground pipes, valves, gates, etc.). In another embodiment, the one or more in-field sensors 170 include one or more proximity sensors disposed on buried pipes or cables. In another embodiment, the one or more in-field sensors include one or more health and / or identification sensors disposed on one or more livestock, such as but not limited to livestock. In another embodiment, the local controller is configured to communicate directly with the in-field sensors 170. In another embodiment, the local controller 130 is configured to communicate indirectly with the in-field sensors 170 through the one or more servers 136. It is noted here that the user controller 140 may be configured to communicate directly or indirectly with the in-field sensor 170. It is also noted here that the work tool controller 160 may be configured to communicate directly or indirectly with the in-field sensor 170.

[0172] Figure 1GA process flow diagram is shown depicting a method 180 for controlling one or more components of a field engagement unit 102. It is noted here that the steps of the method 180 may be implemented in whole or in part by the field engagement unit 102. However, it is also understood that the method 180 is not limited to the field engagement unit 102, as additional or alternative system-level implementations may implement all or a portion of the steps of the method 180.

[0173] In step 182, the local controller 130 receives one or more sets of information from the sensors 170 in the field. For example, the one or more sets of information may include, but are not limited to, soil conditions (e.g., moisture or nutrient content) at locations monitored by the sensors 170 in the field, location coordinates of weeds observed by the vision system sensors 170, location coordinates of proximity sensors 170 on obstacles or buried / protruding soil sensing devices, and location coordinates of the field engagement unit 102, etc.

[0174] In step 184, the local controller 130 analyzes one or more sets of information received from the in-field sensor 170. For example, the one or more sets of information are analyzed to determine: the amount of water or nutrient deficiency at the monitored soil location; the distance measurement between the weeds observed by the vision system sensor 170 and the field engagement unit 102 based on the corresponding location coordinates; the distance measurement between the proximity sensor 170 on the obstacle or buried / protruding soil sensing device and the field engagement unit 102 based on the corresponding location coordinates, etc.

[0175] In step 186, the local controller 130 selects one or more responses to the one or more sets of information based on the analyzed one or more sets of information. In one embodiment, the one or more responses include one or more actions or steps to be taken by one or more components of the site engagement unit 102. For example, the one or more actions may include, but are not limited to, increasing water or nutrients at the monitored soil location, removing identified weeds, or avoiding obstacles / following buried / protruding soil sensing devices. In another embodiment, the local controller 130 selects one or more responses from one or more possible responses stored in the memory 134. In another embodiment, the local controller 130 selects the one or more responses from one or more responses requested from (or received from) the one or more servers 136 or the user controller 140.

[0176] In step 188, the one or more responses are transmitted to one or more components of the field engagement unit 102. For example, the one or more requests may adjust the movement of the field engagement unit 102 and be transmitted to one or more components, including but not limited to the support structure 110 (e.g., raising or lowering the support assembly 104), the propulsion unit 112 (e.g., increasing or decreasing the speed), or the steering assembly 500 (e.g., rotating the propulsion unit 112). For another example, the one or more responses reposition and / or engage one or more work tool assemblies 114 (e.g., positioning the work tool assembly 114 having the nutrient application attachment 900 on the work tool track assembly 108 based on the analyzed location coordinates of the soil point requiring nutrients and applying the nutrients to the soil point, positioning the work tool assembly 114 having the weed removal attachment 800 on the work tool track assembly 108 based on the analyzed location coordinates of the weeds and actuating the weed removal attachment 800 to remove the weeds, etc.).

[0177] In one embodiment, the in-field sensor 170 first measures that the nutrient content of the monitored soil location is low. The in-field sensor then transmits this information to the local controller 130 or a controller in the cloud. The local controller 130 then analyzes the information to calculate the amount of nutrients the soil lacks and determines the additional nutrients that should be applied. The local controller 130 then transmits the action of "repositioning" to a set of coordinates on the work tool track assembly 108 to the work tool assembly 114 including the nutrient applicator attachment 900, and transmits a "lower" command, "apply X volume of nutrients", and a "raise" command to the nutrient applicator attachment 900.

[0178] It is noted here that one or more sets of information may alternatively or additionally be received by the one or more servers 136 or user controllers 140 from the in-venue sensors 170. In this case, the one or more sets of information are analyzed by the server 136 or user controller 140. The server 136 or user controller 140 then determines one or more responses, which include one or more actions or steps to be taken by one or more components of the venue engagement unit 102. The server 136 or user controller 140 then transmits the one or more responses to the local controller 130, which then transmits the one or more responses to the one or more components of the venue engagement unit 102.

[0179] Figure 1HA process flow diagram is shown depicting a method 190 for controlling one or more components of the field engagement unit 102. It is noted here that the steps of the method 190 may be implemented in whole or in part by the field engagement unit 102. However, it is also understood that the method 190 is not limited to the field engagement unit 100, as additional or alternative system-level implementations may implement all or part of the steps of the method 180.

[0180] In step 192, the local controller 130 receives one or more sets of information from one or more component sensors on one or more components of the field engaging unit 102. For example, the one or more sets of information may include, but are not limited to, the rotation speed of the propulsion unit 102, the position coordinates of the work tool assembly 114, the volume of material in the material storage container on the work tool assembly 114, and the like.

[0181] In step 194, the local controller 130 analyzes the one or more sets of information received from the one or more component sensors. For example, the one or more sets of information are analyzed to determine a distance measurement between a current position and an expected position of the work tool assembly 114 on the work tool track assembly 108, the extent to which a storage container 120 on the work tool assembly 114 is lacking a product, and the like.

[0182] In step 196, the local controller 130 selects one or more responses to the one or more sets of information based on the analyzed one or more sets of information. In one embodiment, the one or more responses include one or more actions or steps to be taken by one or more components of the field engagement unit 102. For example, the one or more actions may include, but are not limited to, repositioning the work tool assembly 114, filling the material storage container 120 on the work tool assembly 114, etc. In another embodiment, the local controller 130 selects one or more responses from one or more possible responses stored in the memory 134. In another embodiment, the local controller 130 selects the one or more responses from one or more responses requested from (or received from) the one or more servers 136 or the user controller 140.

[0183] In step 198, the one or more responses are transmitted to one or more components of the field engagement unit 102. For example, the one or more responses may adjust the movement of the field engagement unit 102 and be transmitted to one or more components, including but not limited to the support structure 110 (e.g., raising or lowering the support assembly 104), the propulsion unit 112 (e.g., increasing or decreasing the speed), or the steering assembly 500 (e.g., rotating the propulsion unit 112). For another example, the one or more responses reposition and / or engage one or more work tool assemblies 114 (e.g., repositioning the work tool assembly 114 on the work tool track assembly 108, positioning the work tool assembly 114 with the material storage container 120 under the manifold assembly 122, etc.).

[0184] In one embodiment, the position sensor 166 on the work tool assembly 114 maps the current position of the assembly 114 on the work tool track assembly 108. The position sensor 166 then transmits this information to the local controller 130. The local controller 130 then analyzes this information to determine the distance that the work tool assembly 114 needs to be repositioned. The local controller 130 then transmits the action of "repositioning to the X set of coordinates" on the work tool track assembly 108 to the work tool assembly 114.

[0185] It is noted here that one or more sets of information may alternatively or additionally be received by the one or more servers 136 or user controllers 140 from the in-venue sensors 170. In this case, the one or more sets of information are analyzed by the server 136 or user controller 140. The server 136 or user controller 140 then determines one or more responses, which include one or more actions or steps to be taken by one or more components of the venue engagement unit 102. The server 136 or user controller 140 then transmits the one or more responses to the local controller 130, which then transmits the one or more responses to one or more components of the venue engagement unit 102.

[0186] In one embodiment, the one or more sets of information are received by the server 136 and / or the controller 140 from components of the field engagement unit 102 .

[0187] It is noted here that one or more sets of information may be received separately or simultaneously and / or transmitted between the one or more local controllers 130 , the one or more servers 136 and / or the user controller 140 .

[0188] Reference again Figures 1A to 1FAccording to one or more embodiments of the present disclosure, the system 100 may utilize one or more image detectors or cameras to acquire image data of crops. In one embodiment, the system 100 includes one or more cameras communicatively coupled to the local controller 130, the user controller 140, the server 136, and / or the work tool controller 160. For example, the one or more cameras may include one or more cameras disposed on a portion of one or more field engagement units 102, such as, but not limited to, a work tool or a work tool attachment. For another example, the one or more cameras may include one or more cameras positioned in the field of interest and configured to transmit image data (e.g., via a wireless link) to the local controller 130, the user controller 140, the server 136, and / or the work tool controller 160. For another example, the one or more cameras may include one or more cameras included in a user device (e.g., a smart phone, a tablet, a laptop, a PDA wireless-enabled camera, a custom image acquisition device, etc.), and configured to transmit image data (e.g., via a wireless link) to the local controller 130, the user controller 140, the server 136, and / or the work tool controller 160. In this embodiment, a user may manually acquire image data of one or more crop plants, and then system 100 may aggregate the image data from the user's device.

[0189] In one embodiment, the local controller 130, the user controller 140, the server 136 and / or the work tool controller 160 can execute program instructions to evaluate the growth of one or more plants or plant parts of a specified crop in a field of interest. In this embodiment, the system 100 can replace an agronomist, farmer or crop inspector who must enter the field to manually count and evaluate plants / crops (e.g., in the case of corn, the number of grains on a corn ear). In the case of corn, the system 100 can obtain image data of the corn, and then the program instructions running on the local controller 130, the user controller 140, the server 136 and / or the work tool controller 160 can evaluate the maturity and / or health of the corn. In the case of the user device acquiring image data, the user can split the corn ear in two, and then the user can obtain additional corn ear cross-sectional images, which can further help evaluate the maturity and / or health of a single corn ear and the yield of the entire field.

[0190] Each image can be acquired so as to include items of known relative size. The relative size of the items allows the mobile smart device to automatically calculate the size of the ear and automatically count the number of kernels using object recognition software. It is believed that this methodology will provide a faster and more accurate method of calculating crop yields.

[0191] In another embodiment, each image is tagged with a GPS (Global Positioning System) location and / or timestamp at the time of capture. In this way, when each image is uploaded to a designated server or controller (e.g., via a network), each image retains a global reference to where the image was taken. It can be believed that this feature allows the image to be traceable compared to other images taken in other fields for mapping purposes (e.g., Google Maps). It can also be believed that this functionality can be used as an audit tool to ensure that sufficient and statistically significant field sampling locations are utilized by crop inspectors, who are typically the providers of such information. It can also be used to prove that the crop inspector was actually present at the field at the time shown.

[0192] In some embodiments, images of crops at different growth stages can be taken. The images can then be measured using some common reference items (e.g., a ruler or an object of known length). In the case of corn, the ear can be peeled to expose the grains and obtain an accurate number of grains. This can also be done by breaking the ear in half and measuring the diameter. In another embodiment, the image processing algorithm performed by the server and / or controller of the present disclosure can deduce the number and / or size of crop grains or crop fruits, thereby eliminating the requirement for actual size reference objects. In additional embodiments, the system can collect images of entire plants such as corn, wheat, soybeans, sorghum, etc., in order to predict crop yields. This embodiment can eliminate the requirement for people to stay in the field when the image is collected. The collected images can be used for the same purpose of predicting the yield of a specific crop (e.g., the number of ears, berries, fruits, etc.), and the specific crop is such as but not limited to apples, grapes, tomatoes, pumpkins, grapefruits, blueberries, raspberries, etc. The captured images may be used to i) predict optimal harvesting time using plant / fruit size and color; ii) suggest harvesting time using weather forecasts; and / or iii) correlate kernel / fruit size with post-harvest storage requirements.

[0193] In additional embodiments, one or more hyperspectral cameras can be used to obtain predicted yield information. By utilizing hyperspectral ranging technology or other ranging technology that allows filtering for specific material density, embodiments of the present disclosure can "see" crops through unharvested crop canopies. In some embodiments, for the same purposes listed above, object recognition algorithms are used to proactively calculate the yield of various crops throughout the crop growing season (e.g., soybean seed yield is calculated by soybean bushes, corn grain yield is calculated by ears and stems, apple yield is calculated by woody tree composition, tomato yield is calculated by poles and plant bodies, etc.).

[0194] This image acquisition method eliminates the need for a human on-site crop tour yield prediction step. This data can be used to proactively impact crop yields during the season when inputs such as fertilizers, herbicides for weed control, and pesticides for insect control can still affect plant yields in a given season.

[0195] It is believed that due to the spatial nature of image processing, automatic variable rate maps for fertilizers, irrigation, herbicides, and pesticides can be generated from the processed images.

[0196] This predicted hyperspectral ranging technology or other ranging technology can be mounted to an aerial drone, aircraft, attached to a portion of the field engagement unit 102 (e.g., a work implement), or mounted to another agricultural facility to facilitate image collection throughout the crop growing season.

[0197] In another embodiment, the yield prediction calculation of the present disclosure includes collecting row spacing and total number of plants, and the row spacing and total number of plants can also be obtained using the following image acquisition method: i) using a mobile device to capture images of at least 2 rows of crops (including objects of known size to obtain size relativity) and upload the information to a server and / or controller; ii) program instructions executed by the server and / or controller will execute a prediction algorithm to use this information to predict crop yield; and / or iii) plant type, soil type, current and past weather data, etc. can also be uploaded to the server and / or controller along with the image to form a more complete data set. For accuracy, an audit entity can be used, which performs random checks on the images to ensure that the algorithm processes the images correctly and consistently. Such software can ensure accurate yield predictions and provide the ability to predict the best time to harvest.

[0198] It is also noted that any image recognition program known in the art may be used in conjunction with system 100. For example, real-time plant selection is described in U.S. Patent No. 9,064,173 issued to Redden on June 23, 2015 and U.S. Patent No. 9,030,549 issued to Redden on May 12, 2015, the entire contents of which are incorporated by reference.

[0199] Fig. 1I and Figure 1KAn isometric view of a field engaging unit 102 of a farming system 100 according to one or more embodiments of the present disclosure is shown. As shown, the field engaging unit 102 includes a support structure 104, which includes a support frame 104. A propulsion unit 112 is configured to propel the field engaging unit 102 in any direction and is coupled to the field engaging unit 102 via the support structure 110. In this embodiment, a material storage container 120 is stored on the field engaging unit 102. For example, the material storage container 120 may include a wedge-shaped container sized and shaped to be reversibly assembled within a support frame 106 of a support assembly 104 of the field engaging unit 102. For another example, the material storage container 120 may include a container of any shape and size known in the art.

[0200] Figure 1J A side view of a field engaging unit 102 of a farming system 100 is shown in accordance with one or more embodiments of the present disclosure. In this embodiment, it is noted that a material storage container 120 may also be placed along a central portion of the support frame 106 or coupled to an end portion of the support frame 106. Note that the material storage container 120 is discussed in detail below.

[0201] Although the present disclosure has been largely focused on describing the field engaging unit 102 (e.g., Figure 1C and Figure 1D ), but this configuration should not be construed as limiting the scope of the present disclosure. Instead, a single field engagement unit 102 may include any number of support assemblies 104 and support frames 106. For example, Figure 1K As shown, the site engaging unit 102 may include, but is not limited to, two support assemblies 104 and two corresponding support frames 106 (where each support assembly 104 includes a single support frame 106 ).

[0202] Figures 2A to 3F FIG. 1 shows a support assembly 104 of a site engagement unit 102 of a system 100 according to one or more embodiments of the present disclosure. It should be noted that the various system embodiments, components, and architectures described above should be understood to extend to the scope of application. FIG. 2A to FIG. 2F Support assembly 104.

[0203] Figure 2AA schematic diagram of a support assembly 104 including a support frame 106 according to one or more embodiments of the present disclosure is shown. For example, the support frame 106 may include, but is not limited to, one or more trusses (e.g., bow trusses). The trusses may take any shape known in the art. For example, the trusses may have, but are not limited to, a triangular prism shape (i.e., when viewed from the end of the support frame 106, the trusses have a triangular cross-section. For another example, the trusses may have, but are not limited to, a rectangular prism shape (e.g., when viewed from the end of the support frame 106, the trusses have a square or rectangular cross-section). Note that the trusses may have a cross-section of up to N sides (e.g., when viewed from the end of the support frame 106, the trusses have an N-sided cross-section). For another example, the support frame 106 may be constructed of one or more curved structures. For example, the one or more curved structures (i.e., parabolic structures or bow structures) may have a cross-section of N sides. At least a portion may be arranged in a generally vertical orientation (i.e., 90 degrees from the ground). Additionally, at least a portion of the one or more parabolic structures may be arranged in a generally horizontal orientation (i.e., 0 degrees from the ground). Additionally, at least a portion of the one or more parabolic structures may be arranged at a selected angle to the ground (e.g., an angle in the range of 0.1-90 degrees from the ground). Note that constructing the support frame 106 with one or more parabolic structures in this manner will provide additional support for the one or more work tool rail assemblies 108, which is described in further detail below.

[0204] In another embodiment, Figure 2A As shown, the support assembly 104 includes one or more support structures 110 coupled to the support frame 106 and configured to support the support frame. For example, the support frame 106 can be coupled to the top portion of the one or more support structures 110. In this regard, when the support assembly 104 passes over a specified crop, the support frame 106 will travel above the height of the crop. In another embodiment, the one or more support structures are configured to adjust the elevation of the support frame 106. The one or more support structures 110 are further described in detail herein.

[0205] One or more components of the support assembly 104 may be formed of any lightweight material known in the art. For example, one or more components of the support assembly 104 may be constructed of carbon fiber, carbon fiber reinforced plastic, or graphene but is not limited thereto. For another example, one or more components of the support assembly 104 may be constructed of one or more plastics and / or composite materials but is not limited thereto. For another example, one or more components of the support assembly 104 may be constructed of one or more lightweight metals (e.g., aluminum) but is not limited thereto. It should be noted that the construction of the support assembly 104 is not limited to one or more lightweight materials. For example, one or more components of the support assembly 104 may be formed of one or more non-lightweight materials such as, but not limited to, steel, iron, etc.

[0206] In another embodiment, the support assembly 104 includes one or more main tubes 202. In one embodiment, the main tubes 202 can be configured to carry a volume of liquid such as, but not limited to, water. For example, the main tubes 202 can carry irrigation water. For another example, the main tubes 202 can carry agricultural materials, including, but not limited to, fertilizers, pesticides, seeds, harvested products, etc. In another embodiment, the main tubes 202 are made of lightweight profiles. For example, Figure 2B As shown, the pipe 202 may be a pipe (e.g., a metal pipe) having one or more cutouts 202a to reduce the weight of the pipe 202. Additionally and / or alternatively, the pipe may further include a plastic layer or other non-metal layer, wherein the plastic layer is configured to line the inside of the pipe, line the outside of the pipe, and / or fill the one or more cutouts 202a. In this embodiment, the main pipe 202 may be manufactured such that its weight is approximately 20-50% (e.g., 35%) lighter than a conventional irrigation water pipe constructed of a solid material (e.g., solid metal).

[0207] In another embodiment, the support assembly 104 includes the one or more work tool rail assemblies 108. For example, FIG. 2C to FIG. 2E As shown, the support assembly 104 includes a work tool rail 108a and a work tool rail 108b. In another embodiment, the support assembly 104 includes one or more transfer rails 108c that couple the one or more work tool rails 108a or 108b together. In another embodiment, one or more junctions 108d can couple the one or more work tool rails 108a and 108b with the one or more transfer rails 108c. In another embodiment, one or more junctions 108e can couple the one or more transfer rails 108c together.

[0208] It is noted here that the support assembly 104 may include any number of work tool rails other than 108a and 108b. It is also noted here that the support assembly 104 may include any number of transfer rails 108c. It is also noted here that the support assembly 104 may include any number of junctions 108d and 108e.

[0209] In another embodiment, Figure 2F and Figure 2GAs shown, the one or more work tool assemblies 114 are coupled to the work tool track assembly 108. In another embodiment, the work tool assembly 114 includes a work tool attachment (but not shown). For example, the work tool assembly 114 may include attachments for applications such as but not limited to planting, spraying, fertilizer spreading, and combinations thereof. In another embodiment, the one or more work tool assemblies 114 include the same work tool attachments. In another embodiment, the one or more work tool assemblies 114 include different work tool attachments. It should be noted that coupling one or more work tool assemblies 108 including work tool attachments for separate functions with the field engagement unit 102 can eliminate the need to allow separate farm implements to cross the field to perform separate functions. In this regard, traffic flow is reduced and soil compaction is reduced. The one or more work tool attachments of the work tool assembly 114 are further described in detail herein.

[0210] For example, the one or more work tool assemblies 114 are coupled to the work tool rail assembly 108 via the slot 109. For example, the slot 109 may include a conductive plate for the carrier 608 of the work tool assembly 114, which is described in further detail herein. In another embodiment, the slot 109 may be keyhole-shaped to prevent water from entering the slot 109. It should be noted here that the slot 109 is designed as a keyhole for the safety of the user (e.g., to prevent the user from accidentally inserting a hand into the slot 109 and contacting the electrical or mechanical components).

[0211] It is noted here that although one or more embodiments are directed to work tool rails of equal size in the work tool rail assembly 108, the work tool rails may have different sizes. For example, these different sized work tool rails may be configured for different uses. In one embodiment, as shown in FIG. Figure 2H and Fig.2I As shown, the work tool track assembly 108 may include work tool tracks (e.g., 108b) configured for "heavy" use. For example, one or more work tool assemblies 114 having large work tool attachments (e.g., planter attachments) may be coupled to the one or more "heavy" work tool tracks 108b. For another example, the work tool track assembly 108 may include work tool tracks (e.g., 108a) configured for "light" use. For example, one or more work tool assemblies 114 having small or medium-sized work tool attachments (e.g., phenotyping, weeding, or nutrient application attachments) may be coupled to the one or more "light" work tool tracks 108a.

[0212] In the case where the work tool track assembly 108 includes a "lightweight" track 108a, although the "lightweight" track 108a can be configured to temporarily accommodate one or more work tool assemblies 114 coupled to a large work tool attachment to facilitate rearrangement of those work tool assemblies, the one or more "lightweight" tracks 108a may not be configured to accommodate the one or more work tool assemblies 114 coupled to the large work tool attachment when in use.

[0213] In another embodiment, the work tool track assembly 108 may include one or more work tool tracks configured for auxiliary uses. In another embodiment, one or more work tool assemblies 114 may be attached to the work tool track assembly 108 throughout the growing season. In this embodiment, when a work tool assembly 114 (e.g., one or more work tool assemblies 114 with a plant phenotyping attachment, a soil analysis attachment, or a nutrient / fertilizer attachment) is not being used by a field engagement unit 102 that is not in use, the work tool assembly is stored on the auxiliary work tool track. In another embodiment, when damaged, the work tool assembly 114 can be parked on the auxiliary track. It is noted here that after the tool is damaged, when the work tool assembly 114 can continue to operate, it is just at a slower speed and the field engagement unit 102 can continue to operate.

[0214] In another embodiment, Fig.2I As shown, work tool rails 108a and 108b are constructed from one or more segments. In another embodiment, the one or more work tool segments are coupled together using mechanical couplers 108f and 108g, respectively.

[0215] In another embodiment, Figure 2J and Figure 2K As shown, the support assembly 104 includes one or more switch assemblies 204. In another embodiment, the switch assemblies 204 are configured to be coupled and / or decoupled with the work tool rails 108a and 108b.

[0216] It is noted here that the field engagement unit 102 includes one or more control system components that actuate the switch assembly 204. For example, the one or more control system components that actuate the switch assembly 204 may include a sensor to determine when one or more work tool assemblies 114 are in the vicinity of the switch assembly 204. In this embodiment, the field engagement unit may be configured to actuate the switch assembly 204 when one or more work tool assemblies 114 are in the vicinity of the switch assembly 204, thereby transferring one or more nearby work tool assemblies 114 between the work tool rails 108a and 108b. In order to move a work tool assembly 114 from one work tool rail to another work tool rail, such a switch assembly 204 is necessary to allow another work tool assembly 114 to cross the joint from one work tool rail span device to the other work tool rail span device.

[0217] In another embodiment, the one or more work tool assemblies 114 are attached to the work tool track assembly 108 during a specific phase of the growing season. For example, a work tool assembly 114 with a row planting attachment may be coupled to the work tool track assembly 108 only during the seed planting phase of the season. In this embodiment (but not shown), the site engagement unit 102 of the system 100 is configured to have one or more work tool assemblies 114 loaded on and / or unloaded from the work tool track assembly 108. For example, the system 100 may include a docking system, wherein the docking system includes one or more components for loading and / or unloading the work tool assembly 114. For example, the docking station may be at a fixed location (e.g., a docking station at a base) or may be mobile (e.g., a semi-trailer, truck, or other transport vehicle). In this regard, the work tool assembly 114 may be removed when not in use, and / or removed during the off-season as a preventive measure against theft. In addition, unloading the work tool assembly 114 allows the work tool assembly 114 to be maintained at a location outside the site.

[0218] FIG. 3A to FIG. 3I FIG. 1 shows a support structure 110 of a site engagement unit 102 of a system 100 according to one or more embodiments of the present disclosure. It should be noted that the various system embodiments, components, and architectures described above should be understood to extend to the scope of application. FIG. 3A to FIG. 3I Support structure 110.

[0219] In one embodiment, the support structure 110 may be a rigid structure. In another embodiment, the support structure 110 is configured as a coupled support structure.

[0220] In another embodiment, FIG. 3A to FIG. 3CAs shown, the support structure 110 includes a set of hinges 302 (e.g., a set of six hinges). For example, the set of hinges 302 is required to allow the height of the support frame 106 to be adjusted. In another embodiment, the set of hinges 302 couples one or more support structure sections 304 together. In another embodiment, the support structure 110 can be adjusted from a high (e.g., raised) position 300a through an intermediate position 300b to a low (e.g., folded) position 300c. In this embodiment, the hinge angle 302a decreases through the hinge angle 302b to reach the hinge angle 302c. In another embodiment, the support structure 110 includes a wheel assembly 306. In another embodiment, the wheel assembly 306 is configured to utilize a toothed conveyor belt or chain assembly 306a. In another embodiment, the support structure 110 includes a toothed conveyor belt or chain assembly 308. In this embodiment, components 306a and 308 are configured to act as a gauge when the support structure 110 is adjusted from the raised position 300a to the retracted position 300c by maintaining a selected distance between one or more ground contact points 304a of the one or more support structure segments 304. In addition, components 306a and 308 allow alignment to be maintained without slipping being observed. In this regard, the kinematic stability of the support structure 110 is maintained due to the lack of restraint of the support structure 110 in the absence of components 306a and 308. It is noted here that the process of retraction is reversible to return the support structure 110 to its deployed position 300a.

[0221] In another embodiment (but not shown), the wheel assembly 306 includes a telescopic horizontal member instead of a conveyor belt or chain assembly 306a. In this embodiment, the height of the support frame 106 relative to the ground is adjustable because the horizontal member can be telescoped horizontally.

[0222] In another embodiment, Figures 3D to 3FIn the embodiment shown, the support structure 110 includes a set of hinges 312 (e.g., a set of six hinges). For example, the set of hinges 312 is required to allow the height of the support frame 106 to be adjusted. In another embodiment, the set of hinges 312 couples one or more support structure sections 314 together. In another embodiment, the support structure 110 can be adjusted from a high (e.g., raised) position 310a through an intermediate position 310b to a low (e.g., folded) position 310c. In this embodiment, the hinge angle 312a decreases through the hinge angle 312b to reach the hinge angle 312c. In another embodiment, the support structure 110 includes a set of hydraulic units 316. In another embodiment, the support structure 110 includes a set of pneumatic units 316. In this embodiment, the set of hydraulic units or electric actuators 316 are configured to actuate the connected support structure 110 to vertically adjust the support frame 106. It is noted here that the group of units 308 are synchronized so as to operate so as to keep the support frame 106 stable as it is raised or lowered. In another embodiment, the support structure 110 is coupled to a single propulsion unit 112 of a fixed length, as described in further detail herein. In this embodiment, the fixed length of the propulsion unit 112 is configured to serve as a gauge for when the support structure 110 is adjusted from the raised position 310a to the retracted position 310c.

[0223] It is noted that the field engagement unit 102 can be configured to be locked in the retracted position 310c by a locking pin during field operations, including, but not limited to, planting, plowing, cultivating, and mechanical weeding. Locking the field engagement unit 102 in position 310c transfers forces from the support structure section 314 into the locking pin. In this regard, the moment of inertia caused by the ground / work tool assembly interaction on the support structure 106 can be minimized. Without the locking pin, the support structure 312 would be larger to handle the overall load when performing field operations such as those described above, thereby increasing the weight of the field engagement unit 102.

[0224] It is also noted that in the event of high winds, the site engagement unit 102 can be configured to be lowered so as to minimize damage to the structure caused by high winds. It is expected that the site engagement unit 102 will not generally operate during storms, so there is no available electrical energy to lower such a unit to protect it. A known benefit of using hydraulics to vertically move the support structure 106 is that hydraulic oil can be released directly from the hydraulic cylinder into the hydraulic reservoir. By using remote commands or an onboard user interface, the corresponding hydraulic valves on each support tower can be opened, thereby lowering such a unit to protect it. Small batteries can also be used on one or more vertical support structure members to temporarily allow the release of hydraulic fluid. It is noted here that the above description can be adjusted to make it also applicable to pneumatic systems.

[0225] In another embodiment, Figure 3G to Figure 3J As shown, the support structure 110 includes one or more vertical support structure members 322. In another embodiment, one or more propulsion units 112 are coupled to the one or more vertical support structure members 322. In another embodiment, one or more horizontal support structure members 324 are coupled to the support frame 106 via a set of hinges 326. For example, the set of hinges can be actuated about an axis generally perpendicular to the ground (e.g., a z-axis) and are configured for use during transport yard engagement of the unit 102, as described in further detail herein. In another embodiment, the one or more horizontal support structure members 324 are coupled to the one or more vertical support structure members 322 via one or more sliding collar devices 328.

[0226] In another embodiment, Figure 3J As shown, the rack 330a extends along the vertical length of the vertical support structure member 322. In another embodiment, the exterior of the sliding collar device 328 is coupled with a motor and pinion assembly 330b. In another embodiment, the pinion portion of the assembly 330b is mechanically coupled to the rack 330a through a hole in the sliding collar device 328. In another embodiment, the mechanically coupled rack 330a and assembly 330b are configured to actuate the support frame 106 to vertically adjust the support frame 106. In another embodiment, the support frame 106 is adjusted from a low (e.g., retracted) position 320a through an intermediate position 320b to a high (e.g., raised) position 320c. For example, the support frame 106 is adjusted from the intermediate position 330b to the high position 330c. It should be noted that this process is reversible to return the support frame 106 to the low position 330a.

[0227] In another embodiment, the support structure 110 is configured to be individually actuated. In another embodiment, the support frame 106 can be adjusted to a different height than one or more other support frames 106 of the site engagement unit 102. In another embodiment, as Figure 3G to Figure 3J As shown, the support structure 110 is configured to actuate one side of the support structure 110 by a different amount than the other side. In one embodiment, where the site engaging unit 102 is located on a sloped surface, the site engaging unit 102 can be configured to actuate the uphill side of the support structure 110 higher than the downhill side to maintain the levelness of the support frame 106. In another embodiment, the support structure 110 is configured to be raised or lowered to maintain the side of the support frame 106 in a predetermined optimal position relative to the ground or target working surface.

[0228] In another embodiment (but not shown), the support structure 110 includes one or more nested sections. In this embodiment, the support structure 110 is configured to be retractable. For example, the support structure 110 can be composed of two or more nested sections, wherein the lowest section is configured to be retracted into one or more higher sections. In another embodiment, the support frame 106 is coupled to the highest section so that the elevation of the support frame 106 is adjusted by one or more lower sections configured to be retracted into the highest section.

[0229] It is noted here that the site engagement unit 102 includes one or more control system components to control any electric height adjustment system, any hydraulic height adjustment system, any pneumatic height adjustment system, or any mechanical height adjustment system within the support structure 110 .

[0230] It is also noted here that one or more inclinometers may be used to align the support frame 106 relative to the propulsion unit 112. It is also noted here that the site engagement unit 102 includes one or more ground scanning sensor system components that measure the elevation of the support frame 106. For example, the support structure 110 may include one or more ground scanning sensor system components that measure the elevation of the support frame 106, including but not limited to ground contacting wheels, slides, and arms; biomass penetrating RADAR; LIDAR; ultrasonic; or laser beam.

[0231] The above-mentioned system for measuring and controlling the height adjustment of the support frame 106 by adjusting the support structure 110 can be reused to minimize mistakes or damage to the system. For example, a ground scanning sensor system such as LIDAR can be used in combination with the measurement of the height of the support frame 106 relative to the geometric structure of the site engagement unit system, wherein the geometric structure measurement is skewed because the site engagement unit is partially sunk underground. For another example, the actual height measurement of the ground surface can be measured by utilizing one or more working tools in contact with the ground. For another example, the actual height measurement of the ground surface can be measured by utilizing the technology of measuring the ground through any biomass that may cover the ground. In this embodiment, the biomass penetration technology is firmly fixed to the support structure 106 or the working tool track assembly 108 or can be actuated on the support structure or the working tool track assembly. The biomass penetration technology can take the surface of the continuous scanning or measurement of the ground as a target, so as to provide appropriate instructions to each working tool for the most efficient and productive operation of each working tool.

[0232] It is noted here that the field engagement support 102 can be configured to adjust the elevation of the support frame 106 in order to operate one or more work tool assemblies 114 at various crop heights. For example, the field engagement unit 102 can be configured to adjust its elevation to irrigate immature crops more closely. It is noted that irrigation water drift caused by the influence of wind is reduced by lowering the water-carrying nozzle closer to the ground surface. For another example, the field engagement unit 102 configured to vertically adjust the support frame 106 can operate one or more onboard work tool assemblies 114 at various soil depths. It is also noted that the field engagement unit 102 can be configured to adjust the elevation of the support frame 106 in order to load or unload one or more work tool assemblies 114.

[0233] Also note that the site engaging unit 102 is more stable when the support frame 106 is at a lower elevation. For example, when the support frame 106 is at a lower elevation, the amount of cross-sectional area exposed to the wind is reduced, thereby reducing the likelihood that the site engaging unit 102 will be damaged by high winds.

[0234] It should be noted here that although the above embodiments are directed to an adjustable support assembly with a variable height, the support assembly may also have a fixed height. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0235] FIG. 4A to FIG. 4I One or more propulsion units 112 of the site engagement unit 102 of the system 100 according to one or more embodiments of the present disclosure are shown. It should be noted here that the various system embodiments, components and architectures described above should be understood to be applicable to the entire system. FIG. 4A to FIG. 4I Propulsion unit 112.

[0236] In one embodiment, if Figure 4A and Figure 4B As shown, the propulsion unit 112 includes one or more drive wheels 402. In another embodiment, the propulsion unit 112 includes one or more idler wheels 404. In another embodiment, the propulsion unit 112 includes one or more tracks 406. For example, the tracks 406 can be constructed of rubber. For example, the tracks 406 can be constructed of vulcanized rubber. In another embodiment, the tracks 406 can be constructed of steel. In another embodiment, where the propulsion unit 112 is configured to utilize a positive track conveyor system, the tracks 406 include one or more protrusions 406a.

[0237] In another embodiment, the propulsion unit 112 includes one or more propulsion unit frames 408. In another embodiment, the drive wheel 402 and the idler wheel 404 are coupled to the propulsion unit frame 408. For example, the drive wheel 402 and the idler wheel 404 can be coupled to the propulsion unit frame 408 at opposite ends. In another embodiment, the propulsion unit 112 has one or more support structure coupling points 416.

[0238] In another embodiment, Figure 4A As shown, the propulsion unit 112 includes one or more intermediate rollers 410. It is noted that the intermediate rollers 410 are configured to provide support for the track 406 so that the track 406 maintains smooth soil contact between the drive wheel 402 and the idler wheel 404 when the propulsion unit 112 passes over uneven ground. In another embodiment, the intermediate rollers 410 are coupled to a roller linkage 412, and the roller linkage 412 is coupled to the propulsion unit frame 408. It is noted that the roller linkage 412 and the intermediate rollers 410 are configured to provide a suspension damping effect to the propulsion unit 112 through a pin connection with the propulsion unit frame 408. In another embodiment, the propulsion unit 112 includes a spring assembly 414. It is noted here that the spring 414 is configured to provide a conveyor belt tensioning effect to the track 406 as it travels around the drive wheel 402, the idler wheel 404, and the intermediate rollers 410. It is also noted here that the spring assembly 414 is configured to provide continuous tension to the track 406.

[0239] In another embodiment, Figure 4B As shown, the propulsion unit 112 includes one or more sliders 420. It is noted that the sliders 420 are configured to provide support for the track 406, allowing the track 406 to maintain smooth soil contact between the drive wheel 402 and the idler wheel 404 while allowing the propulsion unit 112 to move over uneven ground. In another embodiment, the slider 420 is coupled to a slider linkage 422, which is coupled to the propulsion unit frame 408. It is noted that the slider linkage 422 and the one or more sliders 420 are configured to provide a suspension damping effect to the propulsion unit 112 through a pin connection with the propulsion unit frame 408. In another embodiment, the propulsion unit 112 includes a spring assembly 424. In another embodiment, the spring assembly 424 includes a roller 426. It is noted here that the spring assembly 424 is configured to provide a conveyor belt tensioning effect to the track 406 as it travels around the drive wheel 402 and the idler wheel 404.

[0240] It should be noted here that configuring the crawler tracks for the propulsion unit 112 eliminates the possibility of a blowout in the pneumatic tire assembly. In addition, the propulsion unit 112 configured with crawler tracks has improved gradeability due to better contact with the soil. However, the propulsion unit 112 can be configured with a tire assembly comprising one or more tires. For example, each tire can be hard rubber. For another example, each tire can be pneumatic. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0241] In another embodiment, Figure 4C As shown, one or more of the drive wheel 402 and the idler wheel 404 are mounted within the propulsion unit frame 408. It is noted here that for purposes of this disclosure, mounting the wheels 402 and / or 404 within the propulsion unit frame 408 is a "U-shaped mounting". Figure 4D As shown, one or more of the drive wheel 402 and the idler wheel 404 are mounted outside the propulsion unit frame 408. It is noted here that mounting the wheels 402 and / or 404 outside the propulsion unit frame 408 is "cantilever mounting" for purposes of this disclosure.

[0242] In another embodiment, Figure 4E The U-shaped installation shown and Figure 4F As shown in the cantilevered mounting, the drive wheel 402 of the propulsion unit 112 is configured to be actuated by an embedded motor 430. In another embodiment, the embedded motor 430 is coupled to a planetary reducer, wherein the planetary reducer is coupled to the propulsion unit frame 408. In another embodiment, the embedded motor 430 is mechanically coupled to a planetary gearbox 432. In another embodiment, the planetary gearbox 432 is configured to rotate around a bearing assembly. In another embodiment, the planetary gearbox drives the drive wheel 404, and the planetary gearbox contacts the track 406 or contacts the wheel 407 at the outer edge 436.

[0243] In another embodiment, Figure 4G The U-shaped installation shown and Figure 4H As shown in the cantilevered mounting, the drive wheels 402 of the propulsion unit 112 are configured to be driven by an embedded wheel hub motor 440. In another embodiment, the embedded wheel hub motor 440 is configured with a permanent magnet motor direct drive. It is noted that the permanent magnet motor direct drive configuration will be able to maintain a high torque low speed setting. It is also noted that the permanent magnet motor direct drive configuration is a fully sealed system with fewer moving parts, reducing part complexity and minimizing the footprint width of the one or more propulsion units 112. It can be considered that minimizing the footprint width is important because it allows the field engagement unit 102 to pass through the field with minimal overall track, making more arable land available.

[0244] In another embodiment, the outer hub 436 includes one or more notches 442 configured to receive one or more protrusions 406a of the crawler conveyor belt 406. In this regard, the one or more notches 442 will apply a certain amount of braking force to the one or more propulsion units 112, including when the hub motor 440 is in a power-off and non-moving state. In addition, the one or more notches 442 will help the site engagement unit 102 maintain its position when the propulsion unit 112 is powered off, which functions as a parking brake (i.e., when the site engagement unit 102 is parked on uneven ground such as a hillside). Although this embodiment is directed to Figure 4G and Figure 4H , but it should be noted here that this implementation method is also applicable to Figure 4E and Figure 4F .

[0245] Fig. 4I 1 shows a propulsion unit 112 according to one or more embodiments of the present disclosure. In one embodiment, the propulsion unit 112 includes a drive wheel 452. In another embodiment, the propulsion unit 112 includes a guide roller 454. It should be noted that although Fig. 4I The guide roller 454 is shown to be smaller in diameter than the drive wheel 452, but the guide roller 454 can be of any diameter, including but not limited to the diameter of the drive wheel 452. In another embodiment, the propulsion unit 112 includes one or more rollers 456. In another embodiment, the propulsion unit 112 includes a track 458. For example, the track 458 can be constructed of rubber. For example, the track 458 can be constructed of vulcanized rubber. For another example, the track 458 can be constructed of steel. In another embodiment, where the propulsion unit 112 is configured to utilize a positive track conveyor system, the track 458 includes one or more protrusions 458a.

[0246] In another embodiment, the propulsion unit 112 includes a propulsion unit frame 460. In another embodiment, the drive wheel 452, the guide roller 454, and the roller 456 are coupled to the propulsion frame 460. For example, the drive wheel 452 and the guide roller 454 are coupled at opposite ends of the propulsion unit 112. As another example, the roller 456 is coupled to the propulsion unit frame 460 between the drive wheel 452 and the guide roller 454. It is noted that the one or more rollers 456 are configured to provide support to the track 458 so that the track 458 maintains a smooth soil contact between the drive wheel 452 and the guide roller 454 when the propulsion unit 112 passes over uneven ground. In another embodiment, the propulsion unit frame 460 includes one or more components configured to provide a conveyor belt tensioning effect to the track 458. For example, the one or more components may include a compression spring. As another example, the one or more components may include a rear cantilever tube that allows a matching tube (e.g., a tube that couples the propulsion unit frame 460 to the roller 454) to be retracted. In this regard, a constant conveyor belt tension may be maintained. As another example, the one or more components may include a coil spring and a hydraulic cylinder or a pneumatic cylinder with an accumulator.

[0247] In another embodiment, the drive wheel 452 is driven by a hub motor 462. In one embodiment, the propulsion unit 112 includes a positive drive type track drive, wherein the hub motor 462 has one or more notches 464 corresponding to the protrusions 458a of the track 458. In another embodiment, the propulsion unit 112 includes a friction rack drive system, wherein the conveyor belt tension maintains friction between the drive wheel 452, the idler wheel 454, the one or more rollers 456, and the track 458 without protrusions 458a (e.g., is smooth and has no positive drive protrusions).

[0248] In another embodiment, the propulsion unit 112 includes one or more components configured to allow for coupling of intermediate components of the propulsion unit 112. For example, the one or more components may include a coupling joint 472. For example, as Fig. 4I As shown, the coupling joint 472 can be configured to allow the entire propulsion unit 112 to rotate about the pivot axis beneath the support structure 110. In this regard, the propulsion unit 112 can adapt to changes in the slope of the ground, wherein the impact is less than if the propulsion unit 112 was firmly fixed beneath the support structure 110 at a selected angle. In addition, the coupling joint 472 can be configured to provide tension to the track 458 when the propulsion unit 112 bends the intermediate assembly. In another embodiment, the length of the bottom track surface is set to be offset from the ground at an angle 466. In this regard, the propulsion unit 112 can be actuated in scenarios other than the possible scenario of having only a completely flat bottom track surface, including those scenarios that require the propulsion unit 112 to climb over steep obstacles.

[0249] In another embodiment, the propulsion unit 112 includes a steering assembly platform 470. For example, the propulsion unit 112 can be coupled to the steering assembly platform 470 via a coupling joint 472. In another embodiment, the propulsion unit 112 is coupled to a steering assembly 500 via the steering assembly platform 470, and the steering assembly 500 is coupled to the support structure 110. The steering assembly 500 is described in further detail herein.

[0250] Please note that FIG. 4A to FIG. 4I A single drive wheel 402 and 452 is shown in FIG because a single drive roller design is believed to be the lowest cost solution for the propulsion unit 112. However, any number of drive wheels 402 may be implemented in the propulsion unit 112. For example, the propulsion unit 112 may include a dual wheel drive system. Figure 4A and Figure 4B In the case of , on the contrary, the idler wheel 404 is the driving wheel 402. Fig. 4I In the case of , instead, the guide roller 454 is the drive wheel 452. It is noted that this dual wheel drive system is advantageous. For example, a dual wheel drive system can be utilized in a power wheel design in the case where the field engagement unit 102 travels an equal distance forward and backward. It is noted that having multiple drive wheels 402 or 452 allows the size of the motor and gearbox of the drive wheel 402 or 452 to be reduced. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0251] Also note here that FIG. 4A to FIG. 4I The embedded motor 430 and the hub motor 440 shown in the figure can be electric. For example, the measured elements (components) of the electric system include but are not limited to roller / track speed, the rotational position of the track based on voltage input or output fluctuations, the slip between the drive wheel and the idler wheel, and the calculated slip (i.e., the comparison between the theoretical GPS location and the travel speed). Therefore, it can be understood that FIG. 4A to FIG. 4I The illustrated embodiment includes one or more control system components to control one or more electric propulsion drive systems within the one or more propulsion units 112. However, the embedded motors 430 and the hub motors 440 may alternatively be powered by any suitable power source including, but not limited to, gasoline, diesel, hydraulic-electric, or pneumatic-electric schemes. In the case of a hydraulic-electric scheme, it will be appreciated that the propulsion unit 112 includes one or more components for measuring the performance of hydraulic system components. For example, the measured elements of the hydraulic system include, but are not limited to, hydraulic pressure and flow within the system. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0252] In other embodiments, the idler wheel 404 is mechanically coupled to the drive wheel 402 through a chain or belt drive assembly, wherein both the idler wheel 404 and the drive wheel 402 have spur gears or pulleys that match the chain or belt drive, respectively. In this embodiment, the drive wheel 402 actuates both the drive wheel 402 and the idler wheel 404. In another embodiment, protective covers can be installed on the chain, gears, and motor.

[0253] It is noted here that the embodiment of the propulsion unit 112 is intended to reduce the number of components of the propulsion system, so that the overall weight and / or cost of the propulsion system is reduced and reliability is improved. In this regard, at least a portion of soil compaction present in the propulsion system is eliminated, the depth of field rutting is reduced, and the likelihood of the field engagement unit 102 becoming stuck when in the field is reduced.

[0254] It is also noted that embodiments of the propulsion unit 112 are directed to new electric drive schemes. For example, the electric drive scheme can be configured to move continuously while utilizing variable speed. As another example, the electric drive scheme can provide more precise position control than the case where the start-stop technology is a self-propelled irrigation system. Other embodiments are directed to a wide range of torque and speed control, including but not limited to: high speed low torque capability; low torque high speed capability; variable speed capability; and the ability to switch from a start-stop mode to a continuous actuation mode. In this regard, fatigue of the structural components of the field engagement unit 102 is reduced. In addition, it can be considered that continuously moving the propulsion unit is more energy-efficient than continuous starting / stopping of the motor.

[0255] It is noted here that the propulsion units 112 on the site engagement unit 102 may be actuated together or independently of each other.

[0256] In one embodiment, the speed of the field engagement unit 102 may be increased. In this embodiment, the local controller 130 may receive one or more sets of information from the propulsion unit 112, such as, but not limited to, voltage input / output, speed of the motor, etc. The local controller 130 may then determine what response is needed (increase voltage to increase the speed of the motor to a selectable value) based on the one or more sets of information. The local controller 130 may then transmit the response to the one or more propulsion units 112.

[0257] FIG. 5A to FIG. 5H The steering assembly 500 of the site engagement unit 102 of the system 100 is shown. It should be noted here that the various system embodiments, components and architectures described above should be understood to be applicable to the FIG. 5A to FIG. 5H Steering assembly 500.

[0258] Figure 5A and Figure 5BA steering assembly 500 is shown in accordance with one or more embodiments of the present disclosure. In one embodiment, the steering assembly 500 includes a steering assembly frame 502. In another embodiment, the steering assembly 500 is coupled to a cross member 504. In another embodiment, the steering assembly frame 502 is coupled to a steering assembly platform 470, wherein the steering assembly platform 470 is coupled to a propulsion unit 112, as previously described.

[0259] In another embodiment, the steering assembly 500 includes a motor 506. For example, the motor 506 can be actuated by electrical energy. For another example, the motor 506 can be actuated by one or more hydraulic components. For another example, the motor 506 can be actuated by one or more pneumatic components. In another embodiment, the steering assembly 500 includes a pinion 508 mechanically coupled to the motor 506. In another embodiment, the steering assembly frame 502 includes a ring gear 510 mechanically coupled to the pinion 508. In another embodiment, the ring gear 510 is coupled to the steering assembly platform 470. For example, the propulsion unit 112 is configured to rotate as the steering assembly platform 470 rotates.

[0260] In another embodiment, Figure 5A As shown, the motor 506, the pinion gear 508 and the ring gear 510 are housed inside the steering assembly frame 502. In this embodiment, the pinion gear 508 is mechanically coupled to the inside of the ring gear 510. In another embodiment, as shown in FIG. Figure 5B As shown, the motor 506, pinion gear 508, and ring gear 510 are coupled to the exterior of the steering assembly frame 502. In this embodiment, the pinion gear 508 is mechanically coupled to the exterior of the ring gear 510. In another embodiment (but not shown), the exposed motor 506, pinion gear 508, and ring gear 510 are covered with a protective cover.

[0261] It is noted here that the field engagement unit 102 includes one or more control system components to control one or more electric steering systems within the steering assembly 500. For example, the one or more electric steering control system components within the steering assembly 500 may include, but are not limited to, an angular sensor that measures the angular position of each propulsion unit 112 (e.g., the angular position of the ring gear 510), the rotational position of the motor 506, and the linear position of the one or more electric actuators. It is also noted here that the field engagement unit 102 includes one or more hydraulic system components required to control one or more hydraulic steering systems within the steering assembly 500. For example, the one or more hydraulic steering control system elements within the steering assembly 500 may include, but are not limited to, the linear position of the one or more hydraulic cylinders.

[0262] Figure 5C and Figure 5DThe support structure 110 of the field engagement unit 102 is shown. In one embodiment, the support structure 330 includes one or more propulsion units 112 coupled to the one or more support structures 110. For example, the one or more propulsion units 112 can be coupled to one or more steering assemblies 500. For another example, the one or more steering assemblies 500 can be coupled to the one or more support structures 110. In another embodiment, a cross member 504 mechanically couples the one or more support structures 110 together.

[0263] For example, the support structure 110 may include two support structures 110, two steering assemblies 500, and two propulsion units 112, wherein each propulsion unit 112 is coupled to the support structure 110 via the steering assembly 500. In this embodiment, the two propulsion units 112 may be configured to be actuated simultaneously, just like a single steering unit. It should be noted here that the propulsion units 112 on the same support structure 110 must be driven as a unified pair to prevent damage to the site engagement unit 102.

[0264] As another example, the propulsion units 112 of the field engagement 102 can be configured to actuate in the same manner, implementing a form of crane steering. For example, crane steering drives all wheels in the same direction and at the same angle. Crane steering allows the vehicle to move forward in a straight line but at an angle, or when the rear wheels may not be able to keep up with the front wheel tracks. In this regard, soil compaction can be alleviated.

[0265] In another embodiment, each propulsion unit 112 may be configured to actuate independently of the other propulsion units 112. However, it is noted here that this may damage the site engaging unit 102.

[0266] In another embodiment, Figure 5C As shown, the support structure 110 is in a "field mode" wherein the one or more propulsion units 112 of the support structure 110 are generally parallel to the cross member 504. In another embodiment, as shown in FIG. Figure 5D As shown, the support structure 110 is in a “transport mode”, wherein the one or more propulsion units 112 of the support structure 110 are generally perpendicular to the cross-member 504 .

[0267] Figure 5E to Figure 5GA top view of the support structure 110 is shown with various differential angles between the one or more propulsion units 112 and the cross member 504. For example, various differential angles may occur when the support structure 110 transitions from a "field mode" to a "transport mode". In one embodiment, the support structure 110 is in a "field mode" at an angle 510. For example, the angle 510 may be zero degrees. In another embodiment, the support structure 110 partially transitions from the "field mode" to the "transport mode" at an angle 512. For example, the angle 512 may be in a range from 0.1-89.9 degrees. For example, the angle 512 may be 45 degrees. In another embodiment, the support structure 110 is in a "transport mode" at an angle 514. For example, the angle 514 may be 90 degrees. For another example, the angle 514 may be greater than or less than 90 degrees.

[0268] It is noted here that the "field mode" and "transport mode" are not limited to zero and 90 degrees, respectively, but may include any differential angle between the one or more propulsion units 112 and the cross member 504. For example, when the field engaging unit transitions from one row span length to a second row span length, the differential angle during the "field mode" may be 90 degrees. For another example, depending on the shape of the field and the direction of the rows within the field, the differential angle during the "field mode" may be in the range of from 0-90 degrees. In this regard, the propulsion unit 112 is configured to provide an omnidirectional function to the field engaging unit 102 when coupled with the steering assembly 500. For example, the omnidirectional function allows the free-range field engaging unit 102 to travel in any desired area shape (e.g., circular, square, rectangular). For another example, the omnidirectional function allows the center pivot field engaging unit 102 to travel in any desired area shape (e.g., circular, square, rectangular) within a radius defined by the fully deployed center pivot docking field engaging unit 102. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0269] It is also noted here that the rotation angle of the propulsion unit 112 coupled to the steering assembly 500 is not intended to be limited to the 90 degrees of rotational steering travel that may occur when switching from "field mode" to "transport mode" or from "transport mode" to "field mode". For example, according to the above-mentioned embodiments, at least 180 degrees of rotational steering travel can be provided. In this regard, all of the above-mentioned embodiments are intended to be configured to allow at least 270 degrees of rotational steering travel. In addition, other embodiments include unlimited rotation capabilities of each propulsion unit 112. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0270] Figure 5HA site engaging unit 102 is shown in accordance with one or more embodiments of the present disclosure. In one embodiment, the site engaging unit 102 includes one or more support assemblies 104 coupled to one or more support structures 110. In another embodiment, the support structures 110 are configured to be independently actuated. For example, a particular support structure 110 may include a steering unit that includes one or more steering assemblies 500 coupled to one or more propulsion units 112. In this embodiment, the steering unit of the particular support structure 110 may be configured to be actuated independently of the steering units of other support structures 110 in the group 550. For example, as Figure 5H As shown, support structures 110 each have different steering angles 520 , 522 , and 524 .

[0271] In another embodiment, Fig.5I As shown, the steering assembly 530 includes one or more steering cylinders and a tie rod assembly. In one embodiment, the steering assembly 530 includes one or more tie rods 532. In another embodiment, the steering assembly includes one or more steering cylinders 534. In another embodiment, the steering assembly 530 is configured to achieve a rotational steering movement greater than 180 degrees using two or more electric actuators or hydraulic cylinders. For the desired target rotational steering movement of at least 270 degrees, the two hydraulic cylinders or two electric actuators need to move in coordination so as to maintain control of the steering when they "pass the center." It should be noted that the steering position can be determined by measuring the length of the hydraulic cylinder and / or electric actuator.

[0272] It is noted that the movement of the propulsion units 112 within a particular support structure 110 must be coordinated. For example, coordination between the propulsion units 112 may require, but is not limited to, measuring the angle of the propulsion unit 112, comparing the measured angle to other propulsion units 112, and directing other propulsion units 112 within the support structure 110 based on the measured angle. It is noted that coordination between the one or more propulsion units 112 within the support structure 110 may form, but is not limited to, a "master-slave" relationship. For example, the angles of two propulsion units 112 may be measured and compared, and each angle may be adjusted to achieve a desired angle.

[0273] In another embodiment, the site engagement unit 102 is configured to determine the location of the support structure 110 based on triangulation using signals from near-field Wi-Fi, Bluetooth, RF, LoRa, or other local wireless communication devices. For example, the site engagement unit 102 can be configured to compare propagated signals from the device relative to one or more known fixed locations in or around the site to calculate the location. It is noted that the use of local wireless communications for triangulation allows for redundancy in the event that GPS propagation failure or obstruction is sufficient to prevent accurate position guidance.

[0274] In another embodiment, the field engagement unit 102 is configured to determine the location of the support structure 110 based on one or more sensors on the support structure 110, including but not limited to an onboard vision system, a scanning laser, and LIDAR. In this embodiment, the field engagement unit 102 is configured to utilize the one or more sensors to track physical markers, including but not limited to crop rows, field edges, or physical infrastructure.

[0275] In another embodiment, the site engagement unit 102 is configured to determine the position of the support structure 110 via a fiber optic line. In this embodiment, the fiber optic line is tied between adjacent support structures 110 of the site engagement unit 102, and light (e.g., sunlight or illumination from a light source coupled to the fiber optic line) passes through the fiber optic line. As the angle of the fiber optic line changes, the length of time for the light to travel through the fiber optic line changes. In this regard, the angle of one support structure 110 relative to an adjacent support structure 110 can be measured and targeted in lieu of a limit switch.

[0276] In another embodiment, the site engaging unit 102 is configured to determine the location of the support structure 110 by sensing one or more cables of the buried site. In another embodiment, the site engaging unit 102 is configured to determine the location of the support structure 110 by one or more load cells incorporated into the support structure 110. In this embodiment, the load cells are configured to measure the traction load and the vertical bearing load of that particular support structure 110. The site engaging unit 102 is configured to limit the travel of the particular support structure 110 when a predefined rated load is measured, preventing unnecessary wear on the system that may occur if the support structure 110 continues to travel beyond the point of the measured rated load.

[0277] In another embodiment, independently actuable steering units (e.g., one or more steering assemblies 500 and one or more propulsion units 112) in a plurality of site engaging units 102 allow the plurality of site engaging units 102 to be transported to another site in a train-like fashion. It is noted that independent actuation of the steering units in each site engaging unit 102 will allow for navigation of tight turns, such as a 90 degree turn when entering or leaving a highway. In another embodiment, the site engaging unit 102 is configured to compare the global positioning system (GPS) locations of other site engaging units 102 in order to monitor, modify, and maintain spacing. In another embodiment, the site engaging unit 102 is configured to compare the geospatial location of each support structure 110 in one or more site engaging units 102 with a pre-planned route defined in a proprietary or commercially available virtual geospatial map, such as Google Maps, Mapbox, Apple Maps, etc.

[0278] In another embodiment, the field engaging unit 102 is configured to control the direction of travel of the field engaging unit by specifying a geospatial location in the field to control the one or more propulsion units 112. In this embodiment, the control system is configured to accurately determine the location of the propulsion unit 112 under the support structure 110 using the GPS coordinates of the support structure 110. Accurate positioning information obtained from a GPS receiver of each support structure 110 allows the system to be accurately positioned according to "instructions" or pre-programmed geospatial operating instructions. In this regard, coordinated movement can be achieved with one or more field engaging units 102 being used simultaneously, including a series of coordinated movements based on a set of movement angles that are much larger than a pivot or translation irrigation system. In this regard, the field engaging unit 102 is able to turn itself according to where the field engaging unit 102 should be in a defined geographic space relative to other field engaging units 102.

[0279] In another embodiment, one or more work tool assemblies 114 having one or more imaging or environmental scanning tools are configured to provide environmental data regarding an upcoming path to the site engagement unit 102. In this regard, the site engagement unit 102 may avoid site obstacles.

[0280] In one embodiment, the angle of a particular steering assembly 500 may be adjusted. In this embodiment, the local controller 130 may receive one or more sets of information from the steering assembly 500, such as, but not limited to, the current angle relative to the cross member 504, or compared to the current angle of one or more additional steering assemblies 500, etc. The local controller 130 may then determine what response is needed based on the one or more sets of information (e.g., changing the angle of the steering assembly to match the angle of the additional steering assembly 500; changing both the angle of the steering assembly 500 and the additional steering assembly 500 to match the new angle, etc.). The local controller 130 may then transmit the response to the particular steering assembly 500, or to both the particular steering assembly and the additional steering assembly 500.

[0281] FIG. 6A to FIG. 13 One or more work tool assemblies 114 of the site joint 102 of the system 100 according to one or more embodiments of the present disclosure are shown. It should be noted here that the various system embodiments, components and architectures described above should be understood to be applicable to the scope of FIG. 6A to FIG. 13 .

[0282] It is noted here that the field engagement unit 102 is configured to operate the one or more work tool assemblies 114 simultaneously. For example, the field engagement unit 102 can be configured to operate one or more of the multiple work tool assemblies 114 in a synchronized manner. In this regard, the field engagement 102 can be used to perform traditional row-based management of the field. For another example, one or more of the multiple work tool assemblies 114 can be configured to operate simultaneously and individually. In this regard, the field engagement unit 102 can be used to perform pick-and-place management of the field. In another embodiment, the one or more work tool assemblies 114 of the field engagement 102 are configured with one or more accessories so that the field engagement unit 102 can continue to operate even if one or more work tool assemblies 114 fail.

[0283] In one embodiment, the work tool assembly 114 includes one or more components. For example, the work tool assembly 114 may include a load-bearing component. For example, the load-bearing component allows the work tool assembly 114 to travel along the work tool track assembly 108. For another example, the work tool assembly 114 may include a work tool attachment. For another example, the work tool assembly 114 may include a robot or a frame component coupled to the load-bearing component and the work tool attachment. For example, the frame component positions the work tool attachment.

[0284] In another embodiment, Fig. 6A and Figure 6B As shown, the working tool assembly 114 includes a frame 602a. In another embodiment, as shown in FIG. FIG. 6C to FIG. 6G As shown, the work tool assembly 114 includes a frame 602b. In another embodiment, the frames 602a and 602b include one or more actuatable arms 604. For example, the arm 604 includes one or more arm sections 604a. For another example, the arm 604 includes one or more hinges 604b. For another example, the hinge 604b couples the one or more arm sections 604a together.

[0285] In another embodiment, the frames 602a and 602b are configured to linearly position the work tool attachment along one or more axes. For example, the work tool attachment may be positioned along a single axis (e.g., along the z-axis when raised and lowered). For another example, the work tool attachment may be positioned along a pair of axes (e.g., along the x-axis and the y-axis when positioned on the work tool track assembly 108). For another example, the work tool attachment may be positioned along three axes (e.g., along the x-axis, the y-axis, and the z-axis).

[0286] In another embodiment, the arm 604 is coupled to an accessory coupler or end effector 606. For example, the accessory coupler 606 may include a bearing assembly to which a work tool attachment is coupled, wherein the work tool attachment includes a motor. In this regard, the work tool attachment coupled to one or more work tool assemblies 114 is configured to rotate about an axis (e.g., a z-axis). For another example, the accessory coupler 606 is a component of a motor coupled to a work tool attachment, including but not limited to a motor shaft or a mounting plate coupled to a motor shaft.

[0287] It is noted here that the field engagement unit 102 is configured to make one or more measurements of the one or more control system components of the one or more actuatable arms 604 of the one or more frames 602. For example, the one or more measurements may include, but are not limited to, the linear position of the electric actuator 605a, the rotational position of the electric actuator 605a and the connected electric actuation joint 605b, the voltage of the electric actuator 605b, and the current of the electric actuator and the motor 605a. For another example, the one or more measurements may include, but are not limited to, the linear position of the hydraulic lift cylinder, the rotational position of the hydraulic lift cylinder and the connected hydraulic actuation joint, and the pressure of the hydraulic lift cylinder and the motor. For another example, the one or more measurements may include data of any pneumatically actuated components of the frames 602a and 602b. It is also noted here that the one or more frames 602 may include any mechanical system components required for mechanical control of the one or more actuatable arms 604. It is also noted here that the field engagement unit 102 is configured to make one or more measurements of the motor at the attachment coupler 606. For example, the one or more measurements include, but are not limited to, the rotational position of the motor, the voltage of the motor, and the current of the motor. Fig.6D An actuator / motor 605a and a connector 605b are shown in FIG. It is also noted here that the actuator / motor 605a can be hydraulically powered, pneumatically powered, or mechanically powered.

[0288] In another embodiment, the frames 602a and 602b are coupled to the carrier 608a or 608b, respectively. In another embodiment, the carrier 608a or 608b includes one or more rollers 609. For example, the rollers 609 are actuated. In another embodiment, the carrier 608a or 608b includes one or more conductor bars 610. For example, the conductor bar 610 can be a single conductive component. For another example, the conductor bar 610 can include one or more conductive plates attached to a conductive block (e.g., see Fig.15D ).

[0289] In another embodiment, the conductor bar 610 of the carrier 608a or 608b is configured to collect power for other components of the work tool assembly 114, which power is transmitted from one or more power sources through the work tool rail assembly 108. For example, the conductor bar 610 can be configured to provide power to the one or more work tool assemblies 114 coupled to the carrier to operate the one or more work tool accessories. In another embodiment, as further discussed herein, the conductor bar 610 of the carrier 608a or 608b is configured to transmit power to other components on the field engagement unit 102, which power is transmitted to other components on the field engagement unit 102 through the work tool rail assembly 108. For example, the conductor bar 610 can be configured to provide power generated by one or more power sources in one or more brackets coupled to the carrier.

[0290] It is noted that the field engagement unit 102 may be configured to make the necessary one or more measurements of the one or more control system components to determine the position of the one or more work tool assemblies 114 on the work tool track assembly 108. For example, the one or more measurements may include, but are not limited to, one or more measurements from one or more linear readers along the work tool track of the work tool track assembly 114.

[0291] In another embodiment, the frame 602b includes a motor 612. In another embodiment, the motor provides power to a single drive wheel between the conductive plates to provide propulsion along the work tool track assembly 108. In this regard, actuation of the motor 612 causes the one or more work tool assemblies 114 to move along the work tool track assembly 108.

[0292] In another embodiment, Fig. 6F As shown, the work tool frame 602b includes a material storage container 120. In another embodiment, the function of the material storage container 120 depends on the function of the corresponding work tool. The material storage container 120 will be described in further detail herein.

[0293] In another embodiment, Figure 6G As shown, the work tool assembly 114 includes a frame 602c. In another embodiment, one of the carriers 608a or 608b can be coupled to the frame 602c. In another embodiment, the frame 602c includes one or more actuatable arms 604. For example, the arm 604 includes one or more arm sections 604a. For another example, the arm 604 includes one or more hinges 604b. For another example, the hinge 604b couples the one or more arm sections 604a together. In another embodiment, the frame 602c is coupled to a work tool attachment.

[0294] It should be noted that although the embodiments of the present disclosure are directed to racks 602a and 602b coupled to carriers 608a and 608b, respectively, any combination of racks and carriers is possible. Therefore, the above embodiments should not be construed as limiting the present invention, but are merely illustrative.

[0295] It is also noted here that although the embodiments of the present disclosure are directed to a work tool assembly 114 having a carrier, a frame, and an accessory component, one or more components may be missing. For example, a work tool accessory may be coupled directly to a carrier.

[0296] In one embodiment, the orientation of the work tool attachment in the work tool assembly 114 may be adjusted. In this embodiment, the local controller 130 may receive one or more sets of information from the work tool assembly 114, such as the orientation of the work tool attachment relative to the xyz axis of the field engagement unit 102. The local controller 130 may then determine what response is needed based on the one or more sets of information (e.g., changing one or more of the xyz axis positions of the work tool assembly 114 to achieve the desired orientation). The local controller 130 may then transmit the response to the work tool assembly 114.

[0297] It is noted here that the work tool attachment of the work tool assembly 114 may include attachment 700 , 800 , 900 , 1000 , 1020 , 1040 , 1100 , 1120 , 1140 , 1200 , 1300 or any other attachment of the present disclosure.

[0298] In one embodiment, if 7A to 7D As shown, the one or more working tool assemblies 114 include one or more plant phenotyping accessories 700. For example, the accessory 700 may be a plant phenotyping accessory. For another example, the accessory 700 may be an animal phenotyping accessory. In another embodiment, the phenotyping accessory 700 is mechanically coupled to the frame 602 via a mounting plate 702. For example, the plant phenotyping accessory 700 may be coupled to an accessory coupler 606 of the frame 602 via the mounting plate 702. For example, the mounting plate 702 may be coupled to the accessory coupler 606 so as to prevent the plant phenotyping accessory 700 from rotating about the z-axis. For another example, the mounting plate 702 may be coupled to the accessory coupler 606 so as to allow the plant phenotyping accessory 700 to rotate about the z-axis. Figure 6B and Fig. 6E The z-axis is shown in .

[0299] In another embodiment, the plant phenotyping accessory 700 includes one or more agronomic imaging accessories 704. In another embodiment, the one or more agronomic imaging accessories 704 include one or more visual systems 706. For example, the one or more visual systems 706 may include, but are not limited to, a visible light vision system, a hyperspectral vision system, a thermal vision system, a color vision system, or a remote sensing vision system. In another embodiment, the one or more visual systems 706 are configured to observe a set visual range. For example, the one or more visual systems 706 may be configured to observe a spherical 360-degree range. Alternatively, the one or more visual systems 706 may be configured to observe a hemispherical 180-degree range. U.S. Patent Publication No. 2015 / 0015697, published on January 15, 2015, generally describes phenotypic measurement and selection, and the entire contents of the disclosure are incorporated herein by reference.

[0300] In another embodiment, the one or more visual systems 706 are configured to automatically capture one or more images of one or more crops. For example, the images can be used individually. For another example, the images can be stitched together to form a multi-dimensional view of the site. In this regard, a site that is otherwise inaccessible due to the nature of the site and / or surroundings can allow a user to remotely walk through the site. In another embodiment, the one or more images of one or more crops captured include one or more crop features. For example, the one or more crop features captured in the one or more images may include, but are not limited to: crop color, which facilitates the proactive application of nutrients; pest locations, which facilitates the identification of pests and the proactive application of pesticides; fungal locations, which facilitates the identification of fungi and the proactive application of fungicides; and weeds, which facilitates the identification of weeds and proactively guides mechanical weeding and / or herbicide spraying accessories. For another example, the one or more images of one or more crops captured include one or more images of harvested products to unharvested crop canopies, which facilitates almost real-time prediction of crop yields. Note that one or more of the acquired images may be processed in conjunction with specific GPS information to generate variable rate maps for one or more of fertilizer, herbicide, fungicide, pesticide, and irrigation applications.

[0301] It is noted here that the plant phenotyping accessory 700 has the unique ability to be lowered below the crop canopy to facilitate obtaining images and / or data that can be used to remotely monitor crop problems in the field (e.g., weeds, insect pests, fungi that may damage the crop). In addition, it is noted here that the plant phenotyping accessory 700 can be used to remotely monitor crop maturity (e.g., comparing the size, shape, seeds, root structure, color, etc. of the plant to those ideal characteristics that may be exhibited under ideal laboratory conditions).

[0302] It is also noted here that the phenotyping attachment 700 can use artificial light in the form of halogen lamps, incandescent lamps, LEDs or other light sources so that it can be used in both nighttime and daytime applications. In the case of daytime applications, artificial light can be used to remove shadows while also allowing the unit to be used under the crop canopy. In another embodiment, the agronomy imaging tool 704 is coupled to the mounting plate 702 via an axis 708. For example, the axis 708 can have a fixed length. For another example, the axis 708 can include one or more extendable and / or retractable portions.

[0303] In another embodiment, the plant phenotyping attachment 700 includes one or more cleaning components 710. In another embodiment, the one or more cleaning components 710 are separate components from the agronomic imaging attachment 704. For example, the one or more cleaning components 710 can be configured to clean the one or more vision systems 706. For example, the one or more vision systems 706 can be configured to rotate in front of the fixed one or more cleaning components 710. Alternatively, the one or more cleaning components 710 can be configured to rotate around the fixed one or more vision systems 706. In another embodiment, the one or more cleaning components 710 are coupled to the agronomic imaging attachment 704. In this embodiment, the agronomic imaging tool is self-cleaning.

[0304] In another embodiment, the plant phenotyping accessory 700 includes one or more additional phenotyping devices 714, 716, and 718. For example, the one or more additional phenotyping devices 714, 716, and 718 are configured to collect valuable agronomic data, including but not limited to NDVI readings (normalized difference vegetation index), VNIR readings (visible and near infrared light), IR readings (infrared light), VIS readings (visible light intensity spectrum), PSII readings (photosystem II or water-plastoquinone oxidoreductase), laser and / or radar height scan readings for determining the height of plants, crops, or for measuring the position of the ground relative to the work tool and / or platform, CO2 readings, thermal readings, hyperspectral readings. It is noted that NDVI is a graphical indicator that can be used to analyze remote sensing measurements to facilitate determining whether the target includes living green vegetation). It is also noted that photosystem II (or water-plastoquinone oxidoreductase) is the first protein compound in the light reaction of oxygenic photosynthesis and is located in the thylakoid membrane of plants, algae, and cyanobacteria). Note also that hyperspectral readouts are often used to obtain a spectrum for each pixel in an image, facilitating the finding of objects, identification of materials, or inspection of processes.

[0305] In another embodiment, the one or more additional phenotypic devices 714, 716, and 718 are directly coupled to the mounting plate 702. In another embodiment, the one or more additional phenotypic devices 714, 716, and 718 are coupled to the mounting plate 702 via a shaft. For example, the shaft can have a fixed length. For another example, the shaft can include one or more extendable and / or retractable portions.

[0306] In one embodiment, the one or more working tools can continuously acquire scans of a given field throughout the growing season. In another embodiment, the scans can be performed frequently and down to the plant level to proactively impact plant yields during the same growing season. It is noted here that the collected information sets can be viewed in a variety of ways. For example, a user can receive and remotely view the collected information sets. For example, a user viewing the information sets remotely can analyze the information sets, determine one or more actions, and transmit the one or more actions to one or more components of the field engagement unit 102. For another example, the collected data can be processed on each field engagement unit 102. For another example, the collected data can be processed in the cloud and a determined response can be transmitted to each field engagement unit 102 for implementation of pre-programmed instructions.

[0307] In one embodiment, if FIG. 8A to FIG. 8E As shown, the one or more work tool assemblies 114 include one or more weeding attachments 800. In one embodiment, the weeding attachment 800 is mechanically coupled to the frame 602 via an attachment coupler 606. In another embodiment, the weeding attachment 800 includes a motor 802.

[0308] In another embodiment, FIG. 8A to FIG. 8C As shown, the weeding attachment 800 includes a ground engaging portion 804. For example, the ground engaging portion 804 may include one or more prongs. For example, the one or more prongs may be curved or straight. In addition, the one or more prongs may be fixed or configured to be independently actuated (e.g., having one or more joints). In another embodiment, the ground engaging portion 804 is directly coupled to the motor 802. In another embodiment, the ground engaging portion 804 is coupled to the motor 802 via a shaft 806. For example, the shaft 806 may have a fixed length. For another example, the shaft 806 may include one or more extendable and / or retractable portions.

[0309] In another embodiment, Fig.8DAs shown, the field engagement unit 102 is configured to implement one or more work tool assemblies 114 with a weeding attachment 800 to perform multiple plowing and cultivation processes. For example, the field engagement unit 102 can be configured to implement the weeding attachment 800 to prepare the seed bed before sowing. For another example, the field engagement unit 102 can be configured to implement the weeding attachment 800 to remove a variety of weeds in a plowing motion, wherein at least a portion of the field can be plowed. For another example, the field engagement unit 102 can be configured to implement the weeding attachment 800 to remove picked weeds in a targeted selection and pulling motion. For example, the field engagement unit 102 can be configured to observe one or more weeds through the one or more plant phenotyping attachments 700. In addition, the field engagement unit 102 can be configured to guide the weeding attachment 800 to remove the observed one or more weeds. As another example, the field engagement unit 102 may be configured to implement the weeding attachment 800 to remove unwanted vegetation, whether intentionally overplanted (eg, lettuce plants and corn seed) or unintentionally planted (eg, spilled seed products).

[0310] It is also noted here that the weeding attachment 800 is capable of rotating in a direction opposite to the direction of initial travel to dislodge material that may be stuck between one or more prongs of the ground engaging portion 804 .

[0311] Although the above embodiment shows a weeding attachment 800 having a claw-like device, it is noted that the weeding attachment 800 can remove weeds by alternative methods. Fig. 8E As shown, the weeding attachment 800 is a shovel 808 on an axle 810. For example, the shovel is deployed underground and pulled up to cut the roots of weeds. In another embodiment, the weeding attachment 800 includes one or more components required to implement high pressure water. In another embodiment, the weeding attachment 800 includes one or more components required to implement steam.

[0312] In another embodiment, the weeding attachment 800 is configured to apply a foam barrier that prevents weeds from growing. For example, the weeding attachment 800 can be configured to apply the foam barrier by applying an impermeable weed foam layer on the top layer of the ground, wherein weeds cannot pass through the artificial weed foam layer, but water can penetrate. For example, the artificial weed-proof foam layer can be an organic material, including but not limited to starch and / or protein-based organic foam products. In addition, the foam product can be mixed with water before or at the time of application. For another example, the artificial weed-proof foam layer can decompose and absorb into the soil after a period of time. It should be noted that the foam barrier remains intact for a long enough time to ensure that the planted crops can provide canopy protection against weeds by minimizing sunlight levels.

[0313] In another embodiment, the weeding attachment 800 is configured to spray herbicides or fungicides to remove weeds. For example, the weeding attachment can be configured to apply herbicides or fungicides to weeds in a targeted manner. For example, the site engagement unit 102 can be configured to observe one or more locations with one or more weeds in the site through the one or more plant phenotyping attachments 700. In addition, the site engagement unit 102 can be configured to guide the weeding attachment 800 to apply herbicides or fungicides to one or more locations with one or more weeds. In addition, the application of herbicides, fungicides or pesticides can be applied using one or more than one working tools or through a rod with a series of nozzles. In the case of a rod with a nozzle, segmentation can be utilized, and valves can open or close the rod segment together. In addition, each nozzle can include a valve that opens or closes it according to the feedback of the one or more phenotyping attachments 700. In this regard, continuous and real-time spraying can be achieved without the need to broadcast the application of herbicides and fungicides. It should be noted here that the above-mentioned embodiments can be implemented in the application of pesticides.

[0314] In another embodiment, the weeding attachment 800 is configured to remove weeds via a laser beam, flame, or concentrated solar beam.

[0315] In another embodiment, one or more of the herbicide, fungicide, or pesticide is stored in a material storage container 120 on a tool 114 having a weeding attachment 800 .

[0316] In one embodiment, if Fig. 9A and Fig. 9B As shown, the one or more working tool assemblies 114 include one or more nutrient application attachments 900. In one embodiment, the nutrient application attachment 900 is coupled to the frame 602a. For example, the nutrient application attachment 900 is coupled to the frame 602a through an attachment coupler 606. In another embodiment, the nutrient application attachment 900 includes a nutrient applicator 902. For example, the nutrient applicator 902 can be a spray nozzle for in-ground application. For another example, the nutrient applicator 902 can be a narrow-width spray nozzle for directional application. For another example, the nutrient applicator 902 can be a wide-mouth spray nozzle for broadcasting or variable speed application. In another embodiment, the nutrient application attachment 900 includes a shaft 904 coupled to the nutrient applicator 902. For example, the shaft 904 can have a fixed length. For another example, the shaft 904 can include one or more extendable and / or retractable portions. In another embodiment, the shaft 904 is coupled to the nutrient applicator 904 through an actuable joint 904a.

[0317] In another embodiment, the nutrient application attachment 900 is configured to apply plant-specific macronutrients (e.g., N, P, K, and trace substances such as B and Zn) to the soil based on the determined soil requirements. For example, potassium (K) is used to help water, carbohydrates, and nutrients move in crop tissues. In another embodiment, the nutrient application attachment 900 is configured to apply plant-specific micronutrients (e.g., Zn, S, and Cu) to the soil. In another embodiment, the nutrient application attachment 900 is configured to apply dry nutrient compounds, including but not limited to lime and potassium carbonate. For example, lime is used to increase soil pH. For another example, potassium carbonate is used to stimulate early growth, increase protein production, increase water use efficiency, improve alfalfa growth, and increase crop resistance to diseases and insects. In another embodiment, the nutrient application attachment 900 is configured to apply water to the soil. In another embodiment, the nutrient application attachment 900 is configured to apply fertilizer to the soil. For example, the nutrient application attachment 900 can apply liquid fertilizer to the soil. As another example, nutrient application accessory 900 can apply dry fertilizer to the soil.

[0318] In one embodiment, nutrient application attachment 900 is configured to apply fertilizer and / or nutrients to the soil in the target location. In this embodiment, local controller 130 can receive one or more groups of information, such as but not limited to, one or more images and / or operating parameters (e.g., one or more soil cores / measurement tests from a work tool with soil sampling and measurement attachment 1000, as discussed in further detail herein). Then, local controller 130 can determine what response is needed based on the one or more groups of information (e.g., applying an increased amount of nutrients to a specific problem point). Then, local controller 130 can transmit the response to nutrient application attachment 900 to apply nutrients and / or fertilizers to the one or more defective locations. In this regard, continuous and real-time application of nutrients and / or fertilizers can occur without the need to broadcast nutrients and / or fertilizers. For example, applying nutrients to the target location can minimize input costs, minimize nutrient loss, and minimize leaching through corresponding soil types.

[0319] In another embodiment, one or more of nutrients, fertilizer, or water are stored in a material storage container 120 on a tool 114 having a nutrient application attachment 900 .

[0320] It is also noted here that the nutrient application attachment 900 can be repurposed as a high pressure water sprinkler. In this regard, the nutrient application attachment 900 can be implemented to remove weeds.

[0321] It should be noted here that the nutrient application attachment 900 can apply nutrients based on one or more groups of information measured using the soil sampling attachment 1000 and / or the soil measurement attachment 1020, which is further described in detail herein. For example, the nutrient application attachment 900 can set different nutrient mixtures when applying nutrients based on the analyzed soil conditions. It should also be noted here that the nutrient application attachment 900 can be controlled so that nutrients are applied simultaneously with the adjacent working tool assembly 114, and the adjacent working tool assembly includes the nutrient application attachment 900, the mechanical weeding attachment 800 and the phenotypic scanning attachment 700. It should also be noted that the nutrient application attachment 900 can be controlled to continuously apply different nutrient mixtures with the same working tool assembly 114. For example, the nutrient application attachment 900 can apply mixture A in a continuous order, then apply mixture B, and then apply mixture A. For another example, any combination, order or quantity is possible when applying a nutrient mixture.

[0322] In one embodiment, if FIG. 10A to FIG. 10H As shown, the one or more working tool assemblies 114 include one or more accessories for soil sampling and soil nutrient measurement. In one embodiment, the one or more accessories for soil sampling and nutrient measurement collect samples for subsequent processing by an off-site laboratory or a mobile field laboratory. For example, the accessories for soil sampling and soil nutrient measurement can store the collected samples in a tool (e.g., a single volume chamber). For another example, the accessories for soil sampling and soil nutrient measurement can store the collected samples in a material storage container 120 coupled to the working tool frame 602b. For another example, the accessories for soil sampling and soil nutrient measurement can store the collected samples in a material storage container 120 in the support frame 106, or in a material storage container 120 coupled to the one or more support structures 110. In another embodiment, the accessories for soil sampling and nutrient measurement collect one or more samples and analyze the one or more samples on the working tool assembly 114 (or the field engagement unit 102).

[0323] In one embodiment, if FIG. 10A to FIG. 10C As shown, the work tool assembly 114 includes a soil sampling accessory 1000. In another embodiment, the soil sampling accessory 1000 is coupled to the work tool frame 602 via a mounting plate 1002. For example, the soil sampling accessory 1000 can be coupled to the accessory coupler 606 of the work tool frame 602 via the mounting plate 1002.

[0324] In another embodiment, the soil sampling accessory 1000 includes a soil sampling port 1004 at one end of a first cylinder 1006. For example, the first cylinder 1006 can have a fixed length. For another example, the cylinder 1006 can include one or more extendable and / or retractable portions. In another embodiment, the soil sampling accessory 1000 includes a second cylinder 1008. For example, the cylinder 1006 can include one or more extendable and / or retractable portions. For another example, the first cylinder 1006 can have a fixed length. However, it is noted that this will require the support assembly 104 to be raised or lowered to allow the soil sampling accessory 1000 to contact the ground.

[0325] In another embodiment, the first cylinder 1006 is configured to allow the sampling port 1004 to penetrate the soil and collect a soil core. For example, the cylinder 1008 can be extended to open the sampling port 1004. Then, the cylinder 1006 can be extended to allow the sampling port 1004 to penetrate the soil. Then, the cylinder 1006 can be retracted to remove the soil core sample to be analyzed in the cylinder 1008.

[0326] In another embodiment, the second cylinder 1008 is configured to cause the sampling port 1004 to eject the collected soil core. For example, the collected soil core can be ejected into a material storage container 120 separate from or coupled to the site engagement unit 102 for subsequent analysis. For another example, after the collected soil core is analyzed on the work tool assembly 114 (or the site engagement unit 102), the soil core can be ejected back into the site. For example, the collected soil core can be analyzed for values ​​including, but not limited to, soil type, soil texture, slab compaction, organic matter content, and nutrient composition (e.g., N, P, and K).

[0327] It is noted here that the field engagement unit 102 is configured to perform one or more measurements of one or more operating parameters of one or more control system components implemented for controlling one or more of the first cylinder 1006 or the second cylinder 1008, the one or more control system components including one or electrical control system components, one or more hydraulic system components, one or more pneumatic system components, or one or more mechanical control system components.

[0328] In one embodiment, if FIG. 10D to FIG. 10F As shown, the work tool assembly 114 includes a soil measurement attachment 1020. In another embodiment, the soil measurement attachment 1020 is coupled to the work tool frame 602 via a mounting plate 1022. For example, the soil measurement attachment 1020 can be coupled to the attachment coupler 606 of the work tool frame 602 via the mounting plate 1022.

[0329] In another embodiment, the soil sampling accessory 1020 includes a soil detector 1022 at one end of a cylinder 1024. For example, the cylinder 1024 may include one or more extendable and / or retractable portions. For another example, the first cylinder 1024 may have a fixed length. However, it should be noted that this will require the support assembly 104 to be raised or lowered to allow the soil sampling accessory 1024 to contact the ground.

[0330] In another embodiment, the cylinder 1024 is configured to allow the soil probe 1026 to penetrate the soil. In another embodiment, the soil probe 1026 is configured to measure one or more values ​​of the soil. For example, the soil probe 1026 can be configured to measure one or more values, including but not limited to, soil moisture at one depth, soil moisture at other depths, soil composition (e.g., nutrient and organic matter content) at one or more depths, or soil salinity (e.g., pH level) at one or more depths.

[0331] It is noted here that the field engagement unit 102 is configured to make one or more measurements of one or more operating parameters of one or more control system components implemented to control one or more of the cylinders 1024, the one or more control system components including one or more electrical control system components, one or more hydraulic system components, one or more pneumatic system components, or one or more mechanical control system components. In one embodiment, as Figure 10G and Fig. 10H As shown, the one or more work tool assemblies 114 include a soil sampling and soil measurement combination attachment 1040. In another embodiment, the soil sampling and soil measurement combination attachment 1040 is coupled to the work tool frame 602 via a mounting plate 1042. For example, the soil sampling and soil measurement combination attachment 1040 can be coupled to the attachment coupler 606 of the work tool frame 602 via the mounting plate 1022.

[0332] In another embodiment, the soil sampling and soil measurement combination accessory 1040 includes one or more soil sampling accessories 1000. In another embodiment, the soil sampling and soil measurement combination accessory 1040 includes one or more soil measurement accessories 1020. It is noted here that the soil sampling accessory 1000 and / or the soil measurement accessory 1020 can be implemented to measure soil compaction as a measure of the force required to push the soil sampling accessory 1000 and / or the soil measurement accessory 1020 into the soil.

[0333] It should be noted here that the cleaning component of the plant phenotyping accessory 700 can be extended to the soil sampling accessory 1000 and / or the soil measuring accessory 1020. For example, the soil sampling accessory 1000 may include a cleaning function for removing soil adhering to the cylinder 1008, including but not limited to water or air. For another example, the soil measuring accessory 1020 may include a cleaning function for removing soil adhering to the soil detector 1024, including but not limited to water or air. It should also be noted here that the combination accessory 1040 can be coupled with one or more cleaning components.

[0334] In one embodiment, any nutrient deficiency of the soil can be measured. In this embodiment, the local controller 130 can receive one or more sets of information from the soil sampling attachment 1000 and / or the soil measurement attachment 1020, such as, but not limited to, the identification and quantity of soil components, the measured soil type, the measured soil texture, the compaction of the soil layer, the organic matter content in the soil, the EC (electrical conductivity) amount of the soil, etc. The local controller 130 can then determine what response is needed based on the one or more sets of information (e.g., applying nutrients to the soil and test points, applying variable speed irrigation, or deep plowing to break up the compaction). The local controller 130 can then transmit the response, including but not limited to the repositioning response, to the work tool assembly 114 including the nutrient applicator 900 and any other work tool assembly 114 located between the nutrient applicator 900 and the test location where nutrients are needed, and transmit the operating condition (e.g., opening, operating program) changes to the work tool assembly 114 including the nutrient applicator 900.

[0335] In one embodiment, if FIG. 11A to FIG. 11G As shown, the one or more working tool assemblies 114 include one or more planting attachments. In another embodiment, the one or more planting attachments are configured to combine a series of planting attachments that can plant more than one seed in each planting operation. In another embodiment, the one or more planting attachments are configured to combine a single seed planting attachment for a single row. In another embodiment, the one or more planting attachments are configured to combine several single seed planting attachments that can plant multiple seeds in a single operation, including but not limited to a single row. For example, several single seed planting attachments will allow the field engagement unit 102 to be configured to harvest a single row of one crop while leaving scattered crops or other varieties in the field for harvesting later. For another example, a single seed planting attachment will allow the field engagement unit 102 to be configured to plant a cover crop before harvesting a previous crop.

[0336] In one embodiment, if FIG. 11A to FIG. 11CAs shown, the work tool assembly 114 includes a single seed attachment 1100 for each plant crop planting. For example, incorporating the single seed attachment 1100 will allow the field engagement unit 102 to be configured to plant one or more seeds together with one or more nutrients required to stimulate plant growth (e.g., water, N, P and / or K, trace nutrients, fungicides or pesticides). It should be noted here that the single seed attachment 1100 can be configured to take environmental data into account, including but not limited to, rainfall, wind speed, wind direction, soil moisture, available nutrients (even down to each plant level), soil type, site altitude, latitude, seed hybrid, growth unit, temperature and ultraviolet radiation at each seed location in the field. For another example, incorporating a single planting attachment will allow the field engagement unit 102 to be configured to replant one or more alternative crops in the event that the initial planting fails due to one or more of stagnant water, poor seed emergence, unfavorable weather, etc.

[0337] In another embodiment, the single seed accessory 1100 is coupled to the housing 602b via the accessory coupler 606. In another embodiment, the single seed accessory 1100 includes a seed manager 1102. In another embodiment, Figure 1B As shown, the seed manager 1102 includes a singulator 1150. In another embodiment, the singulator 1150 singulates a single seed from a plurality of seeds received by the single seed attachment 1100 from an onboard or separate material storage container 120. For example, the material storage container 120 can be coupled to the frame 602b above the single seed attachment 1100. For another example, the material storage container 120 can be coupled to the support frame 106. For another example, the material storage container 120 can be coupled to the support assembly 110 to provide seeds through the manifold assembly 122. In another embodiment, the seed manager 1102 includes an orienter 1152. In another embodiment, the orienter 1152 orients the seeds to a desired orientation prior to planting the seeds to maximize seed emergence and optimize the orientation of the leaves of the plants in order to enable the plants in the field to receive a large amount of sunlight. In another embodiment, the seed manager 1102 and / or the orienter 1152 are communicatively coupled to the work tool controller 160.

[0338] Although the embodiments of the present disclosure illustrate that the singulator 1150 and the orienter 1152 are on the same single seed attachment 1100, it is noted here that one or both of the singulator 1150 or the orienter 1152 can be separated from the single seed attachment 1100 (or separately coupled from the single seed attachment).

[0339] In another embodiment, the single seed attachment 1100 includes a soil penetrator 1104. It is noted here that the soil penetrator 1104 can be a part of the single pelletizer 1150 or the orienter 1152 of the seed manager 1102 or a separate component therefrom.

[0340] The benefits of controlling corn kernel orientation during planting are described in Adrian A. Koller's doctoral dissertation, "DESIGN, PERFORMANCE PREDICTION AND VALIDATION OF ASEED ORIENTING CORN PLANTER," published in May 2013 at Oklahoma State University, the entire contents of which are incorporated herein by reference.

[0341] In another embodiment, Figure 1C As shown, the single seed attachment 1100 plants a single seed by movement of the frame 602a or 602b to define intervals 1166 and / or 1168 or at intervals relative to already planted seeds. For example, the defined intervals at which the point planter 1104 plants seeds can be fixed. Alternatively, the field engagement unit 102 can be configured to adjust the defined intervals at which the point planter 1104 plants seeds, taking into account possible obstacles, soil types, nutrient availability, etc. In another embodiment, the single seed attachment 1100 can plant seeds in a defined orientation set by the orienter 1152. For example, when planting, corn kernels can be oriented with the husk pointing downward toward the soil.

[0342] It is noted here that the single seed attachment 1100 can be configured in conjunction with any additional components required to be configured to perform at least one step, including but not limited to: removing biomass from the top layer of the soil, loosening the soil, placing the seeds at a depth suitable for the seeds, appropriately pressing the soil around the seeds, applying one or more nutrients (i.e., fertilizers) and applying irrigation water near each seed, and covering the soil.

[0343] It is also noted here that the single seed attachment 1100 can plant seeds based on one or more sets of information from the soil sampling attachment 1000 and / or the soil measurement attachment 1020. For example, the single seed attachment 1100 can change the seed type between plantings based on the soil conditions analyzed by the local controller 130 based on one or more sets of information obtained by the soil sampling attachment 1000 and / or the soil measurement attachment 1020. For another example, during seed planting, the single seed attachment 1100 can add or remove a determined amount of nutrients, fertilizers and / or water based on the analyzed soil conditions when the nutrients, waste and / or water are sprayed into the seed location. In this embodiment, the soil sampling operation can be performed at or before the seed planting operation.

[0344] In one embodiment, if Fig.11D As shown, the one or more working tool assemblies 114 include one or more planting array accessories 1120. In another embodiment, the planting array accessory 1120 is coupled to the working tool frame 602 via a mounting plate 1122. For example, the planting array accessory 1120 can be coupled to the accessory coupler 606 of the working tool frame 602 via the mounting plate 1122. In another embodiment, the planting array accessory 1120 includes a planting accessory base 1124. In another embodiment, the planting accessory base 1124 is supported by one or more base cross members. However, it should be noted here that the planting accessory base 1124 is not a required component of the planting array accessory 1120.

[0345] In another embodiment, the planting attachment base is configured to combine one or more single seed planting attachments 1100 into a set arrangement. For example, the planting attachment base 1124 can be configured to combine a single row of single seed planting attachments 1100. For another example, the planting attachment base 1124 can be configured to combine multiple rows of single seed planting attachments 1100. It is noted here that the single row or multiple rows of single seed planting attachments 1100 can include functionality to change row spacing on-the-go through control by the local controller 130 using processed data, including but not limited to soil type, soil nutrient level, soil topography, soil compaction level (e.g., site road), and sunlight availability (e.g., trees covering a portion of the site).

[0346] In another embodiment, the single seed planting attachment 1100 is coupled to the planting attachment base 1124 at a defined interval. For example, the defined interval of the single seed planting attachment 1100 in the planting attachment base 1126 can be fixed. Alternatively, the field engagement unit 102 can be configured to adjust the defined interval of the single seed planting attachment 1100 to take into account possible obstacles, including rocks, irrigation wells, utility poles, oil wells, gas pipelines, etc.

[0347] Although the embodiments of the present disclosure are directed to linear planting array attachments 1120, it is noted that the planting array attachments 1120 can be arranged to plant in a staggered, offset or random spacing manner. It is also noted that the planting array attachments include defined intervals, wherein the defined intervals are adjustable.

[0348] In another embodiment, the planting array attachment 1120 feeds the coupled single seed planting attachment 1120 in an input / output manner (i.e., planting a seed before the next seed is loaded into the planting chamber). In another embodiment, the planting array attachment 1120 alternatively implements an assembly with a series of single seed planting attachments 1100, wherein an attachment 110 is placed in place, enabled to plant a seed, moved out of position, and reloaded with seed while another single seed planting attachment 1100 is starting a cycle to plant. In this regard, downtime that must be spent preparing seeds in a single seed planting attachment 1100 can be minimized.

[0349] In one embodiment, if FIG. 11E to FIG. 11H As shown, the one or more work tool assemblies 114 include one or more row unit planting attachments 1140. In another embodiment, the row unit planting attachment 1140 includes a frame 1141. In another embodiment, the frame 1141 is coupled to the work tool carrier 608a or 608b via a mounting plate 1142.

[0350] In another embodiment, the row unit planting attachment 1140 includes one or more disk units 1144 that dig furrows in the soil. In another embodiment, the disk units 1144 are configured to plant one or more rows at the same time. For example, the disk units 1144 can be configured to plant one or more rows at a time with defined row spacing. For example, the defined spacing of the one or more disk units 1144 can be fixed by a seed singulation wheel. Alternatively, the field engagement unit 102 can be configured to adjust the defined row spacing of the one or more disk units 1144.

[0351] In another embodiment, the row unit planting attachment 1140 includes one or more plowing wheels 1146. For example, the one or more plowing wheels 1146 can be configured to turn the ground before the one or more disc units 1144 plant seeds, including the case where the seeds are planted in the existing biomass located on the top layer of the ground. In another embodiment, the row unit planting attachment 1140 includes one or more compacting or spacing wheels 1148 to reinforce the sides of the seed furrows plowed by the plowing wheels 1146. For example, the compacting wheel 1148 can be actuated by an electric actuator, a hydraulic cylinder, a pneumatic cylinder, or a ground drive mechanism. For another example, the compacting wheel 1148 can be configured to supplement or replace the propulsion force provided by the frame 602 to the row unit planting attachment 1140. For example, the compacting wheel 1148 can be configured to supplement or replace the propulsion force provided by the motor 612 of the frame 602b to the row unit planting attachment 1140. In another embodiment, the speed at which the one or more compacting wheels 1148 are actuated determines the spacing of the row of seeds planted. In another embodiment, the row planting unit 1140 includes one or more pressing or covering wheels 1150 to cover the seed furrow with soil.

[0352] In another embodiment, the row planting unit attachment 1140 is coupled to the material storage container 120. For example, Fig.11G As shown, the row planting unit attachment 1140 can be coupled to the material storage container 120 housed within the support frame 106. As another example, seed products are pneumatically transported from one or more material storage containers 120 to the row unit planting attachment 1140 via the manifold assembly 122. It is noted here that depending on how the seed is transported to the work tool assembly 114 including the row planting unit attachment 1140, the row planting unit attachment 1140 can be rotated by the rotation assembly shown having two mating platforms up to 360 degrees or more.

[0353] In another embodiment, FIG. 11I to FIG. 11L As shown, the field engagement unit 102 is configured to implement one or more work tool assemblies 114 with row unit planting attachments 1140 to plant one or more rows at the same time. For example, the field engagement unit 102 can be configured to implement two work tool assemblies 114 with row unit planting attachments 1140 to plant one or more rows at a time. In this embodiment, the work tool assemblies 114 with row unit planting attachments 1140 are positioned to face each other at opposite ends of the corresponding lifting platforms when the field engagement unit 102 is raised. Then, the field engagement unit 102 is lowered to allow the work tool assemblies 114 with row unit planting attachments 1140 to engage the ground. Each work tool assembly 114 with row unit planting attachments 1140 propels itself along its work tool track 108, moving toward or away from each other until the work tool assembly reaches the end of its work tool track 108. As each work tool assembly 114 with row unit planting attachment 1140 is pulled across the ground, seeds are dropped into the ground at desired intervals, the intervals being determined by the singulating wheels in the corresponding planting row unit 1144 .

[0354] As soon as the work tool 114 with the row unit planting attachment 1140 passes through the length of the work tool track 108, the field engagement unit 102 is raised and moved forward or backward to the next few rows to be planted. The field engagement unit 102 rotates each work tool assembly 114 with the row unit planting attachment 1140 180 degrees and lowers the support structure to allow each work tool assembly 114 to return each row unit planting attachment 1140 to the planting position to engage the ground for the next round of planting. It is noted here that the field engagement unit 102 can repeat this process within each field to be planted until the field is completely planted. It is also noted here that if only a portion of the rows are planted, the field engagement unit 102 is able to lower its work tool assembly 114 with the row unit planting attachment 1140 only in the area or section of the field that needs to be replanted.

[0355] In one embodiment, if FIG. 12A to FIG. 12C As shown, the one or more working tool assemblies 114 include one or more detasseling attachments 1200. In one embodiment, the detasseling attachment 1200 is mechanically coupled to the frame 602a by the mounting plate 1202. For example, the detasseling attachment 1200 can be coupled to the attachment coupler 606 of the frame 602a by the mounting plate 1202. For example, the mounting plate 1202 can be coupled with the attachment coupler 606 to prevent the detasseling attachment 1200 from rotating around the z axis. For another example, the mounting plate 1202 can be coupled with the attachment coupler 606 to allow the detasseling attachment 1200 to rotate around the z axis. For example, the rotation will allow the direction of the field row to be adjusted or the direction of the leading portion of the plant (such as, corn stalk 1210) entering a group of stripping wheels 1206 can be adjusted.

[0356] In another embodiment, the detasseling attachment 1200 includes a transmission housing 1204. For example, the transmission housing 1204 can enclose one or more motors, gears, chains or conveyor belts. For another example, the transmission housing 1204 can include an electric component, a hydraulic drive component, a pneumatic drive component. In another embodiment, the group of stripping wheels 1206 is coupled to the transmission housing 1204. In another embodiment, one or more motors of the transmission housing 1204 are configured to rotate the group of stripping wheels 1206. For example, the one or more motors can be configured to rotate the one or more stripping wheels 1206 in opposite directions. For example, the one or more actuators can be configured to rotate the one or more stripping wheels 1206 to pull the corn tassel upward through the one or more stripping wheels 1206, thereby removing the tassel (e.g., the flower producing pollen on the corn crop) in an upward vertical motion. For another example, the one or more actuators can be configured to actuate the one or more detasseling wheels 1206 in the same rotation direction, but it should be noted that rotation in the same direction may damage the stripping wheel 1206. In another embodiment, the detasseling attachment 1200 includes a cutting assembly that removes any tassels missed by the one or more detasseling wheels 1206 .

[0357] It is noted here that a vision system can be implemented to determine whether all target plant tassels have been removed by the detassel attachment 1200. If the vision system observes that tassels are missing, the field engagement unit 102 can respond by re-activating the detassel attachment 1200.

[0358] In one embodiment, if Fig.13As shown, the field engagement unit 102 includes one or more irrigation attachments 1300. In one embodiment, the one or more irrigation attachments 1300 are coupled to the support frame 106 of the support assembly 104. For example, the one or more irrigation attachments can be coupled to the support frame 106 via a dripping device 1304. For example, the dripping device 1304 can have a fixed length. However, it is noted here that the dripping device 1304 on the entire field engagement unit 102 can be a different fixed length. Alternatively, the dripping device 1304 includes one or more extendable and / or retractable sections. In addition, the dripping device 1304 is flexible. Alternatively, the dripping device 1304 can be rigid. For another example, the one or more irrigation attachments 130 can be directly coupled to the support frame 106. In one embodiment, the main pipe 202 can transport water to the irrigation attachment 1300 for irrigation. However, it is noted here that additional conduits may be coupled to support assembly 104 for irrigation, freeing up main conduit 202 for use in conveying different materials and / or products to other one or more work tool assemblies 114 .

[0359] In another embodiment, the irrigation attachment 1300 can spray at a variable rate. For example, the irrigation attachment 1300 can include an adjustable nozzle 1302. It should be noted here that all irrigation attachments 1300 can include the same nozzle 1302. However, one or more irrigation attachments 1300 can also include a nozzle 1302 that is different from the nozzles of the remaining irrigation attachments 1300. For another example, the irrigation attachment 1300 can include a valve control device.

[0360] In another embodiment, one irrigation attachment 130 is controlled at a time. In another embodiment, multiple irrigation attachments 1300 are controlled simultaneously. For example, irrigation attachments 1300 in a particular section of the field engaging unit 102 may be controlled simultaneously. For another example, a selected plurality of irrigation attachments 1300 may be controlled simultaneously.

[0361] In another embodiment, all of the irrigation attachments 1300 on the field engaging unit 102 are fed by the same irrigation pipe. In another embodiment, in contrast, one or more of the irrigation attachments 1300 may be fed by a different irrigation pipe than the remaining irrigation attachments 1300. In this regard, one group of irrigation attachments 1300 may be dedicated to providing irrigation water or fertilizer to the field, while another group of irrigation attachments may instead be dedicated to providing herbicides.

[0362] It is noted here that the irrigation attachment 1300 can water and / or fertilize based on one or more sets of information from the soil sampling attachment 1000 and / or the soil measurement attachment 1020. For example, the irrigation system 1300 can add or remove a determined amount of fertilizer and / or water based on the analyzed soil conditions when irrigating. It is also noted here that the irrigation attachment 1300 can be controlled so that it is controlled to irrigate, fertilize, or apply fertilizers simultaneously with an adjacent work tool assembly 114 having the irrigation attachment 1300.

[0363] In another embodiment, irrigation attachments 1302 and 1304 utilize VRI (variable rate irrigation) technology where a valve controls a single sprinkler, or utilizes segmented control (multiple sprinklers per segment), as well as utilizing on / off switching of the entire system. Shown at 1300 is a drip device, where the sprinkler is attached to the bottom of a flexible hose to reduce the amount of irrigation water wasted by wind. It is also contemplated that irrigation, fertilization, or fertilizer application may also be injected into the soil, applied through a series of slow soaker hoses towed behind the field engaging unit, or utilizing a series of fixed sprinklers attached to the upper structure of the field engaging unit.

[0364] While the above embodiments are directed to an irrigation attachment 1300 mounted on a support frame, it is noted herein that the one or more work tool assemblies 114 may be configured to utilize one or more irrigation attachments 1300. For example, a nutrient application attachment 900 may alternatively be used as an irrigation attachment 1300 in a low pressure setting to shoot water into the ground or tow a soaker hose on the ground behind the field engaging unit 102. In this regard, irrigation water may be delivered with a high degree of accuracy to the field locations observed by the one or more phenotyping tools 700 that require irrigation. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0365] In one embodiment, the one or more work tool assemblies 114 include one or more plowing attachments. In another embodiment, the one or more plowing attachments plow in a vertical direction by implementing one or more plowing procedures. For example, the one or more plowing processes may include, but are not limited to: deep plowing to break up soil compaction; rotary plowing (mixing biomass); and surface plowing (ridge plowing). It is noted here that the one or more plowing procedures can be implemented with precision down to the individual plant level.

[0366] In one embodiment, the one or more work tool assemblies 114 include one or more harvesting attachments. In another embodiment, the harvesting attachments are configured to be combined with a multi-row harvester. In another embodiment, the harvesting attachments are configured to be combined with a single-row harvester. For example, a single-row harvester would allow the field engaging unit 102 to harvest a single row of one crop while leaving scattered crops or other species in the field for later harvesting. In another embodiment, the harvesting attachments are configured to be combined with a single harvesting attachment for pre-planted crop management. It is noted here that the harvesting attachments can harvest any quantity, from an entire field to a single plant level.

[0367] In another embodiment, the harvesting attachment is configured to measure crop harvest yield. It is also noted here that the harvesting attachment can measure any number of crop harvests, from the entire field to the individual plant level.

[0368] In another embodiment, harvested products are stored on the field engagement unit 102. For example, harvested products can be stored in a material storage device 120 on the work tool assembly 114. For another example, harvested products can be stored in a material storage container 120 in the support frame 106. For another example, harvested products can be transported from the one or more harvesting attachments to the material storage container 120 coupled to the support assembly 110 via the manifold assembly 122. For another example, harvested products can be transported from the one or more harvesting attachments to one or more separate material storage containers 120 via the manifold assembly 122. In this embodiment, harvested products can be transported from the field engagement unit 102 to the one or more separate material storage containers 120 via a center pivot docking station 1702, which is further described in detail herein. For another example, a hose reel using a long flexible hose can be used to transfer harvested grain from the field engagement unit 102 to a waiting truck, cart, or other storage container located elsewhere on the field, on a road, or at a driveway. For example, multiple boxes on a cart can isolate a certain number of different isolation metric arrays that are desired to remain isolated. In addition, the hose reel will lower the hose so that the hose does not adversely affect the plants. At a later turn, the hose reel will roll up the hose and store it until the next turn. It is noted here that a large amount of irrigation water can be transferred to each field engagement unit 102 using flexible hose to irrigate crops. For another example, bulk grain can be accumulated on the field engagement unit 102 and once full, placed on the ground for later pickup.

[0369] In another embodiment, the harvesting attachment is configured to harvest fruits and vegetables, including but not limited to nuts, tomatoes, grapes, strawberries, apples, pears, oranges, or grapefruits. In another embodiment, in the case of harvesting corn ears intact to minimize seed damage, the harvesting attachment is configured to transport the corn ears intact to one or more material storage containers 120. For example, the corn ears can be transported intact to one or more material storage containers via a conveyor assembly. However, it is noted here that the harvesting attachment can be configured to separate the kernels from the cobs.

[0370] In another embodiment, the field engagement unit 102 is configured to transfer the stored harvested crops to the central threshing unit. In another embodiment, the harvesting attachment is configured to perform one or more functions, including but not limited to, threshing, separating, and cleaning the crops when harvesting products from the crops. In another embodiment, the harvesting attachment is configured to disperse biomass after harvesting the crops.

[0371] It is noted here that the field engagement unit 102 can determine whether to harvest any particular portion of the field. In one embodiment, the field engagement unit 102 makes such a determination taking into account seed moisture, crop maturity, and additional surrounding environmental information. For example, the determination can be made by combining data from various sources (real-time and near real-time) including the field, local weather forecasts, availability of transportation logistics, available space at grain dryers, truck wait times at local elevators, seeding progress, fuel prices, grain drying costs, etc.

[0372] In another embodiment, the seeds are graded and sorted by the work tool assembly attachment or by the field engagement unit 102 so that the user can receive a premium for their crop due to higher quality and traceability standards. For example, the grading metrics may include moisture level, color, hybrid, size, weight and / or density, blemishes (e.g., apples, pumpkins), etc.

[0373] In one embodiment, the one or more work tool assemblies 114 include one or more biomass collection attachments, including but not limited to a baling attachment. Litter or straw includes corn stalks, leaves, husks, and tassels that remain in the field after corn is harvested. Embodiments of the litter removal attachment are configured to perform one or more functions, including but not limited to: chopping up the remaining litter to aid natural decomposition; collecting the chopped material into a compacted form (e.g., bales); cutting and collecting individual corn plants into bundles; and pelletizing the biomass or straw to be hauled to a processing facility, possibly for use in the production of bio-based materials or the production of ethanol.

[0374] It should be noted here that the one or more work tool assemblies 114 can be loaded onto the site engagement unit 102, implemented by the site engagement unit or unloaded from the site engagement unit to make room for other work tools. For example, the weeding attachment 800 can be configured to mechanically remove the weeds around the specific plants and / or areas of the site based on the processing image suggestion. In this regard, the use of herbicides can be reduced or saved to ensure that the plants that subsequently emerge will not cause the negative impact of intercepting resources from the fast-emerging plants and actually acting as weeds. For another example, the weeding attachment 800 can be configured to remove the plants that have not emerged within the estimated time window. For another example, the weeding attachment 800 can be configured to treat the specific plants and / or areas of the site with herbicides and / or fungicides based on the image suggestions and other data-based suggestions. In this regard, contrary to the spread spraying method, the application of herbicides and / or fungicides is limited to the required area. For another example, the one or more nutrient application attachments 900 can be configured to provide plant-specific or region-specific fertilizers based on imaged plant colors. For another example, the one or more nutrient application attachments 900 can be configured to provide accurate region-specific fertilizers based on frequent or infrequent soil sampling. For another example, the irrigation attachment 1300 can be configured to provide region-specific irrigation based on soil moisture sampling. For another example, the irrigation attachment 1300 can be configured to provide region-specific irrigation based on temperature, location-specific ET (evapotranspiration), wind speed, wind direction, and relative humidity of the surrounding environment, soil type, or site topography.

[0375] It is noted here that any of the work tool attachments can be coupled to a common work tool frame 602a. It is also noted here that any of the work tool attachments can be coupled to a common work tool frame 602b. However, it is also noted here that any of the work tool attachments can require an attachment-specific frame. For example, the weeding attachment tool 114 can alternatively be a weeding tool with a specific frame. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0376] It is also noted here that any of the motors attached to the one or more work tool assemblies 114, including the motors in the above-mentioned carriers, frames, and various work tool accessories, can be driven by alternative power other than electrical energy. For example, any of the motors attached to the one or more work tool assemblies 114 can be hydraulically driven or pneumatically driven. For another example, the one or more work tool assemblies 114 can include any control system components required to actuate hydraulic and / or pneumatically driven motors. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0377] FIG. 14A to FIG. 14EOne or more material storage containers 120 of the system 100 according to one or more embodiments of the present disclosure are shown. It should be noted here that the various system embodiments, components and architectures described above should be understood to be applicable to the entire system. FIG. 14A to FIG. 14E .

[0378] For purposes of this disclosure, the "material" defined in the material storage container includes, but is not limited to, water used in agricultural applications, any solution-based herbicide product, any seed product, any fertilizer product, any nutrient product, soil cores, granular fertilizer, etc. For example, the material may include any of liquid fertilizers, herbicides, fungicides, insecticides, and dry fertilizers.

[0379] Fig.14A One or more material storage containers 1400 according to one or more embodiments of the present disclosure are shown. In one embodiment, the one or more material storage containers 1400 are a separate unit from the site engagement unit 102. For example, the site engagement unit 102 can be coupled to a pivot docking station 1702, which is described in further detail herein. In this regard, the site engagement unit 102 can take materials as needed through one or more material supply components 1705 on the pivot docking station 1702.

[0380] Fig. 14B A support structure 110 is shown in accordance with one or more embodiments of the present disclosure. In one embodiment, the support structure 110 is coupled with one or more material storage container platforms 1402. In another embodiment, one or more material storage containers 1404 are coupled to the one or more material storage container platforms 1402. For example, the one or more material storage containers 1404 can be permanently coupled to the one or more platforms 1402 such that when coupled to the site engagement unit 102, material from a second source is loaded into the container 1406. For another example, an empty material storage container 1404 can be removed from the one or more platforms 1402 and replaced with a filled material storage container 1404. For example, the material storage container 1404 can be moved using a pallet fork.

[0381] In another embodiment, the one or more material storage containers 1404 and the platform 1402 are located on a different end than where the one or more work tool assemblies 114 are loaded onto and / or unloaded from the work tool track assembly 108. In this regard, the one or more work tool assemblies 114 can be loaded and / or unloaded when the storage container is filled or replaced. However, it is noted here that the location where the one or more work tool assemblies 114 are loaded and unloaded and the storage container 1406 can be on the same side of the site engagement unit 102.

[0382] Fig. 14C A material storage container 1406 is shown housed within a frame 114b of a work tool 114 in accordance with one or more embodiments of the present disclosure. In one embodiment, the material storage container 1408 holds material for a work process, including, but not limited to, planting, fertilizing, spraying, and the like. In another embodiment, the material storage container 1406 includes a spout assembly 1406a. For example, the material storage container 1406 can be refilled with material from a manifold assembly 122 via the spout assembly 1406a, which is described in further detail herein. For example, the manifold assembly 112 can have one or more dispensing valves to which the spout assembly 1406a can be coupled when filling. In another embodiment, the material storage container 1406 receives soil cores and other soil measurement samples from a soil sampling accessory 1000, a soil measurement accessory 1020, or a soil sampling and measurement combination tool 1040.

[0383] In another embodiment, the spout 1406a includes a cover to prevent rain, dust, and wind from entering the container. For example, the independent and closed nature of the material storage container can allow each system to pneumatically transfer material from the storage container 1406 to the end of the work tool assembly 114 using one or more methods of transferring material such as gravity, suction, vacuum, etc. (including combinations thereof).

[0384] Fig.14D One or more material storage containers within the support frame 106 of the site engagement unit 102 are shown. In one embodiment, the one or more material storage containers within the support frame 106 include one or more fluid material storage containers 1408. It is noted here that the material storage containers 1408 mostly store liquid materials. In another embodiment, the one or more material storage containers within the support frame 106 include one or more fluidized solid material storage containers 1410. For example, a material storage container 1410 storing fluidized solids requires a steep slope so that its high angle of incidence allows it to be completely emptied even at high moisture levels. In this embodiment, the one or more fluidized solid material storage containers 1410 are configured to drain through a sump 1410a at the bottom of the storage container 1410.

[0385] In another embodiment, the material storage containers 1408 and 1410 utilize a method of remotely measuring the level of material in their tanks and viewing the measured data to optimize each run. In this regard, the machine knows how much material is needed for a particular run through the site and will not start a run without sufficient input material to complete the run. In this way, the site engagement unit, autonomously or through manual interaction, can proactively fill from one or more larger bulk containers.

[0386] Fig.14E A manifold assembly 122 is shown housed within a support frame 106 in accordance with one or more embodiments of the present disclosure. In one embodiment, the manifold assembly 122 is configured to transport material along the length of the support frame 106. For example, the transported material may include, but is not limited to, water, agronomic inputs, sampling outputs, and harvesting outputs. In one embodiment, the manifold assembly 122 includes one or more manifolds 1422. For example, the one or more manifolds 1422 may be separate from the main pipe 202. For another example, the one or more manifolds 1422 may be coupled to the main pipe 202.

[0387] In another embodiment, the manifold assembly 122 includes one or more manifold auxiliary conduits 1424 coupled to the one or more manifolds 1422. For example, a portion of the one or more manifold auxiliary conduits 1424 may be pneumatically driven. For example, dry materials including but not limited to seeds and dry fertilizers may require pneumatically driven conduits. For another example, a portion of the one or more manifold auxiliary conduits 1424 may be pressure driven. For another example, a portion of the one or more manifold auxiliary conduits 1424 may utilize a screw conveyor. For example, liquid materials including but not limited to water, liquid fertilizers, herbicides, and fungicides may require pressure-driven manifold auxiliary conduits 1424. In another embodiment, the one or more manifold auxiliary conduits 1424 take materials from one or more material storage containers 1404 mounted on the support structure 110. In another embodiment, the one or more manifold auxiliary conduits 1424 extend to the one or more work tool assemblies 114. For example, the manifold assembly 122 can deliver materials from an onboard material storage container to a dispensing valve where the materials can be mixed and dispensed through a dispensing valve via a spout 1406a to a work tool assembly 114. For another example, the one or more manifold auxiliary conduits 1424 can extend directly into an attachment on the one or more work tool assemblies 114. For another example, the one or more manifold auxiliary conduits 1424 can place materials into one or more storage containers 1406 coupled to the work tool frame 602.

[0388] It is noted here that the manifold assembly 122 is used to mix inputs, such as herbicides or fertilizers, thereon as the premix material becomes less useful based on post-mix storage time. In this way, it is desirable to mix only the amount that will be consumed as close to the time when mixing is needed as possible. In this regard, the field engagement unit 192 allows all materials to be kept separate until the work tool requires the product, at which time the manifold can receive, measure and mix those input materials required for a particular recipe. It is also noted here that each field engagement unit can utilize more than one manifold mixing assembly to allow multiple real-time hot mixing operations for similar operations or different operations to occur during the same field run (e.g., herbicide application while nutrients are being applied at the same time).

[0389] In another embodiment, Figure 2G As shown, the work tool assembly 114 is configured to dock with one or more manifolds 1422 to be reloaded. In one embodiment, the work tool 114 is configured to request additional filling electronic work instructions from the site engagement unit 102 control system. For example, the data can be exchanged via a wireless or wired connection. Once the work instructions are approved, the site engagement unit 102 is configured to re-arrange the work tool 114 to the correct position on the one or more tracks 108 so as to physically dock with the manifold 1422, or directly to the storage container 1408 or 1410. For example, docking can be accomplished through a wireless proximity relationship, by using a physical switch and / or by position measurement of a linear encoder. Once the control system verifies that the correct work tool has docked with the correct manifold 1422, the site engagement unit 102 is configured to open the manifold 1422, the dispensing valve and / or the dispensing valve, and allow a set amount of material to enter the material storage container 1408 coupled to the work tool 114. Once reloading is completed, the work tool 114 is configured to disengage from the manifold 1422 and resume operation.

[0390] It is noted here that there can be multiple manifold attachments 122 attached to the site engagement unit 102. It is also noted here that one or more material handling work tools can be used to fill their corresponding operating work tools so as to allow the filling time of each corresponding work tool to be as short as possible. It is also noted here that the operating work tools can continue to operate without stopping, and are automatically filled by their matching material handling work tools while they move and operate on their corresponding tracks. For example, once the filling operation is completed, the material handling work tools can be refilled from the central filling manifold, directly refilled through the material storage container 1408, or continue to fill other operating work tools until they become empty and must be refilled.

[0391] Fig.14F An alternative configuration of a manifold assembly 122 according to one or more embodiments of the present disclosure is shown. In one embodiment, the main transport pipe 202 is surrounded by one or more manifold auxiliary pipes 1424. It is noted that it is suitable to implement this assembly with the main pipe 202 coupled to one or more manifolds 1422 of the manifold assembly 122. It is contemplated that the assembly that accommodates the main pipe 202 surrounded by the one or more manifold auxiliary pipes 1424 can be manufactured in sections along the length of the site joint unit so that the section including the main pipe 202 or the manifold pipe 1424 can be removed without removing the entire pipe that has failed.

[0392] It is noted here that this arrangement allows the work tool assembly 114 to dispense input material at any location along its path by dispensing the material from the common tube 202. It is envisioned that this is similar to the way an inkjet printer operates, where herbicides, fertilizers, etc. are dispensed by the work tool assembly 114 from the common tube 202 at any location where the work tool is located. In this regard, since the input material is available as needed, less material storage is required on the work tool carrier.

[0393] FIG. 15A to FIG. 15H One or more power sources for the site engagement unit 102 are shown in accordance with one or more embodiments of the present disclosure. FIG. 15A to FIG. 15H Also shown are one or more components used to distribute power throughout the field engagement unit 102 . FIG. 15A to FIG. 15H One or more methods of distributing power to the entire site engagement unit 102 are also shown. It should be noted here that the various system implementations, components and architectures described above should be understood to be applicable to the entire site engagement unit 102. FIG. 15A to FIG. 15H .

[0394] Fig.15A and Fig. 15B A power source 1502 is shown. For example, the power source 1502 can be a generator driven by an internal combustion engine. For example, the generator can be powered by diesel. For another example, the power source 1502 can be configured to operate with a replaceable battery pack. In this embodiment, the field engagement unit 102 is configured to sense when the battery pack is depleted and travel to a docking station to recharge and / or replace the battery pack. For another example, the power source 1502 can be configured to operate with one or more fuel cells. In another embodiment, as Fig.15A As shown, power source 1502 is coupled to platform 1504, wherein platform 1504 is coupled to cross member 504 of support structure 110. In another embodiment, as Fig. 15B As shown, a power source 1502 is coupled to the support frame 106 .

[0395] In another embodiment, the site engagement unit 102 may include any number of individual power sources 1502 disposed on the one or more support structures 110 or within the support frame 106 .

[0396] For example, the site engaging unit 102 may include a first power source 1502 coupled to the support assembly 110, wherein the first power source 1502 provides power to the one or more propulsion units 400 and the one or more steering assemblies 500. For another example, the site engaging unit 102 may include a second power source 1502 coupled to the support assembly 104, wherein the second power source 1502 provides power to the one or more work tool assemblies 114. Note that if the site engaging unit 102 is configured to implement the second power source 1502, the second power source 1502 may be mounted opposite the first site engaging unit 102 for weight distribution purposes.

[0397] As another example, a power source 1502 may be coupled to each end of the support frame 106. For example, one power source 1502 may provide power for propulsion, steering, and support structure actuation, while a second or auxiliary power source 1502 may provide power for work tool functions. In this regard, power efficiency is improved because several of the tasks of the field engagement unit 102 (e.g., crop inspection, imaging, or driving from one field to another, traveling for refilling) require only propulsion. In these cases, the auxiliary power source may be turned off, saving fuel.

[0398] FIG. 15C to FIG. 15H An electric power source working tool assembly 1500 is shown that includes one or more electric power sources 1506. In one embodiment, the electric power source working tool assembly 1500 operates on 2-phase AC, 3-phase AC, or DC power. In another embodiment, power from the one or more electric power sources 1504 is distributed to the entire site engagement unit 102. For example, the site engagement unit may include one or more small electric power sources 1506 shared between one or more support structures 110 of the support assembly 104. In this regard, the width of the site engagement unit 102 can be reduced because additional space for the electric power source 1502 is not required on the one or more support structures 110 of the support assembly 104. In another embodiment, a modular power pack working tool assembly 114 is added due to high power requirements. For example, the output from the power pack can be directly increased to the electrical energy available to the working tool. In this regard, one or more additional power packs can be used to supply applications that require high energy consumption. In another embodiment, as Fig. 15C As shown, power source 1506 is housed in bracket 1508. In another embodiment, bracket 1508 is coupled to work tool rail assembly 108 via bracket 1510. In another embodiment (but not shown), power source 1506 is mounted directly to the underside of carrier 1510.

[0399] In another embodiment, Fig.15DAs shown, the carrier 1510 includes one or more rollers 1511. For example, the rollers 1511 are powered. In another embodiment, the carrier 1510 includes one or more conductor bars 1512. In another embodiment, the one or more conductor bars 1512 include one or more conductive plates 1512a. It is noted that the site engagement unit 102 may include one or more control system components for determining the position of the power source working tool assembly 1500 on the working tool track assembly 108, including but not limited to one or more rotary or linear encoders on the one or more conductor bars 1512, as well as bar codes, UTC codes, etc.

[0400] It is noted here that the embodiments of the present disclosure are directed to a modified version of the carrier 1510 of the carrier 608a. However, the carrier 608a can also be used as the carrier 1510 without modification. In addition, the carrier 608b can be used as the carrier 1510 with or without modification. Therefore, the above description should not be construed as limiting the present invention, but is merely illustrative.

[0401] In another embodiment, Fig.15E and Fig.15F As shown, one or more power sources 1506 in the one or more brackets 1508 are coupled to the one or more working rails 108. In another embodiment, the working tool rail assembly 108 includes one or more conductor bar slots 1514. For example, the one or more brackets 1500 can be coupled to the conductor bar slots 1514 via a rail mounting bracket 1510 having one or more conductor bars 1512. For another example, the one or more conductor bars 1512 can be elastically loaded with one or more spring assemblies 1512b to ensure contact with the conductor bar slots 1514. In another embodiment, the conductor bars 1512 and the one or more conductor rails can be made of conductive materials such as copper, aluminum, alloys of the two, or other materials that facilitate the movement of electrical energy. In another embodiment, the one or more power sources 1506 can be configured to distribute power through the one or more conductive plates 1512a of the one or more conductor bars 1512. It is noted here that the conductor bar slots 1514 are recessed to prevent contact with conductive materials, including but not limited to water or human hands.

[0402] In one embodiment (although not shown), the conductor bar 1512 with the plate 1512a may be formed as a single-piece conductor bar rail.

[0403] In another embodiment, power from the one or more power sources 1506 is distributed to the field engagement unit 102 via a conductor bar 1512 that is in contact with the work tool rail assembly 108. Figure 15GAs shown, power from the one or more power sources 116 is distributed throughout the field engagement unit 102 via a parallel grid 1520. For example, distributing power via a parallel grid 1520 can create fault-tolerant power redundancy, wherein if one or more power sources 116 fail or are shut down due to lower power demand for the work tool or unit as a whole, the field engagement unit 102 can still operate at a lower state. For example, the control system of the field engagement unit 102 can be configured to make adjustments to still allow propulsion and reduced work tool functions, but with reduced current availability. In addition, the field engagement unit 102 can be configured to make adjustments by disengaging one or more non-operating power sources 116 or docking one or more alternative operating power sources 116 once loaded.

[0404] In another embodiment, the field engaging unit 102 is configured to shut down one or more power sources 116 when power input from the one or more power sources is not needed, but without disconnecting power to the entire field engaging unit 102. For example, the field engaging unit 102 can be configured to implement an "eco-mode" setting to minimize power usage. For example, utility companies often shut down irrigation systems during peak times in the summer months to conserve available power. Using this eco-mode setting, the field engaging unit 102 can be configured to continue spraying the field during peak times, but not irrigating.

[0405] It is noted here that one or more power sources 1500 operating in parallel at optimal capacity can provide equivalent power to a single power source 1502 operating at maximum capacity. In addition, this equivalent power can be provided in a more efficient manner than a single power source 1502 operating at maximum capacity by one or more power sources 1506 operating in parallel at optimal capacity.

[0406] It is noted here that, additionally, the distributed power source working tool assembly 1500 may be configured to automatically connect to the power distribution system on the site engagement unit 102 .

[0407] In another embodiment, power is distributed to one or more batteries, one or more capacitors, or one or more battery / capacitor hybrids on the one or more work tool assemblies 114 by induction or near-field energy transfer. It is noted here that the conductor bar 1512 will contact the matching conductor track on the lifting platform structure using induction or near-field energy transfer. In another embodiment, the power will be transmitted to the work tool by induction. This type of energy transfer, while less efficient, has less wear and tear because the parts are not in contact, and thus has higher reliability.

[0408] It is noted here that the field engagement unit 102 can be configured to load and / or unload the power source work tool assembly 1500 in a manner similar to the loading and unloading of the one or more work tool assemblies 114. For example, one or more power sources 1506 can be added to one or more brackets 1508 as additional power needs arise, additional one or more work tool assemblies 114, or additional field engagement units 102 are present. For another example, one or more power sources 1504 in one or more brackets 1506 can be loaded on the field engagement unit 102 to replace one or more currently loaded non-operating power sources 1506 in one or more brackets 1508. For another example, unloaded power source work tool assemblies 1500 can be stored and maintained at a central location rather than in the field.

[0409] In another embodiment, the site engaging unit 102 includes one or more components that absorb solar radiation (ie, generate solar power). In another embodiment, the site engaging unit 102 includes one or more components that store the absorbed radiation (ie, one or more batteries).

[0410] In another embodiment, Fig.15H As shown, the working tool 114 includes a track mounting bracket 608. In another embodiment, the track mounting bracket 608 includes two or more conductor bars 1512. It should be noted that the two or more conductor bars 1512 are required to cross the joint between the two field engagement units and can be used during the entire transfer period. For example, the two conductor bars 1512 of the track mounting bracket 1510 can initially contact the conductor bar groove 1532a of the working tool track 108a of the first field engagement unit 102a. As the working tool 114 travels along the working tool track 108a, one of the two conductor bars 1512 of the working tool 114 is transferred to the conductor bar groove 1532b of the working tool track 108b of the second field engagement unit 102b. In this regard, the working tool 114 can simultaneously receive power from the first field engagement unit 102a and the second engagement unit 102b. Finally, both conductor bars 1512 of the working tool 114 are transferred to the conductor bar groove 1532b of the working tool track 108b. In this embodiment, the space between the two field engagement units 102a and 102b can be covered with a flexible non-conductive shield 1536, which includes but is not limited to rubber. However, since the shield 1536 is non-conductive, the space between the two field engagement units 102a and 102b may also need to include a flexible electrical conductor that connects the field engagement units 102a and 102b together under the flexible non-conductive shield 1534.

[0411] It is noted here that the one or more rail mounting brackets 1510 of the one or more brackets 1508 may alternatively be configured to couple with the support frame 106 of the support assembly 104. It is also noted here that one or more power distribution components may alternatively or additionally be included in the support frame 106 of the support assembly 104. For example, one or more conductor bars may be embedded in the support frame 106.

[0412] In another embodiment, the one or more power sources may include components for a solar power system, a wind power system, or a hydrogen power system. In the case of a solar power system, the components may include one or more mounted photovoltaic components or photovoltaic coatings (paints) electrically coupled to one or more conversion components and one or more batteries, wherein the batteries store electrical energy converted from absorbed solar energy.

[0413] In another embodiment, the power source may be coupled to the grid by using an on-site power network including overhead or buried cables and by using permanent tracks on which the site engagement unit may travel.

[0414] In other embodiments, the one or more site engagement units 102 include one or more local weather stations. These weather stations provide information to the one or more site engagement units 102, including, but not limited to, wind speed, wind direction, rainfall, relative humidity, ambient temperature, rainfall, and atmospheric pressure. In this regard, the control system of the one or more site engagement units 102 can adjust the operating parameters of one or more components of the support assembly 104, the one or more propulsion units 400, and the one or more work tools 114. For example, when the wind speed exceeds a set value, the herbicide spraying function can be stopped until the wind speed drops below a threshold. This prevents the herbicide from drifting with the wind to an unplanned site. For another example, when the wind speed exceeds a set value, the support assembly crane can be lowered to a safe lower position to prevent the site engagement system from overturning / being damaged by destructive wind speeds. For another example, ET (evaporation and transpiration) can be calculated based on other measured meteorological data. It should be noted here that the calculated ET value, ambient temperature, and predicted rainfall can be compared with soil moisture measurements at one or more depths to provide a high-resolution irrigation prescription map.

[0415] 16A to 16H Transport of one or more site engagement units 102 is shown in accordance with one or more embodiments of the present disclosure. 16A to 16H Also shown is the docking of two or more site engagement units 102 according to one or more embodiments of the present disclosure. It should be noted here that the various system embodiments, components and architectures described above should be understood to extend the scope of application to 16A to 16H implementation method.

[0416] In one embodiment, the field engagement unit 102 can be transported by a truck 1602 having a cab 1604. For example, the truck can pull an enclosed trailer 1606. For another example, the truck can pull a platform trailer 1608. For another example, the truck can pull a flatbed trailer. In another embodiment, the field engagement unit 102 can include a hitch attachment (e.g., a three-point hitch attachment, a ball hitch attachment, a slot and handle attachment, a bolt-on attachment, etc.) coupled to the support assembly 104. In the case of a hitch attachment, the hitch attachment can allow for the installation of existing agricultural implements. In the case of a ball hitch attachment, the field engagement unit 102 can be moved without a self-propelled or semi-autonomous trailer 1602 but by a third party device such as a tractor or a truck. In another embodiment, the field engagement unit 102 can be transported in a shipping container.

[0417] In another embodiment, Fig. 16B As shown, the site engagement unit 102 can be configured to allow it to be transported to a location (e.g., a site) in a compact form by a truck 1600 via an enclosed trailer 1606, a platform trailer 1608, or a flatbed trailer. Fig. 16C As shown, the support frame arms 106a and 106b can be folded against the main section of the support frame 106. In another embodiment, the support structure 110 can be folded inward to minimize the width of the footprint of the field engaging unit 102. In another embodiment, the propulsion unit 112 is aligned to drive the unit 102 along a line parallel to the length of the field engaging unit 102. In another embodiment (but not shown), the support structure 106 is retractable.

[0418] FIG. 16D to FIG. 16G 1600 according to one or more embodiments of the present disclosure. In one embodiment, the support structure 106 is elevated. In another embodiment, the propulsion unit 116 is aligned with a line parallel to the length of the support structure 106. In another embodiment, the propulsion unit 116 is actuated to propel the site engaging unit 102. In another embodiment, the ability of the site engaging unit 102 to load and unload itself includes driving itself along a ramp behind an enclosed trailer 1606, a flatbed truck 1608, or a flatbed trailer. In another embodiment, as Fig.16D As shown, the rotating propulsion unit 112 is aligned with a line perpendicular to the length of the unit 102. In another embodiment, as shown in FIG. Fig.16E As shown, the propulsion unit 112 is actuated to deploy the support structure 110 from a position approximately parallel to the length of the support structure 106 to a position approximately perpendicular to the length of the support structure 106. In another embodiment, as shown in FIG. Fig.16F and Figure 16GAs shown, the support frame arms 106a and 106b are deployed from a folded position against the main section of the support frame 106.

[0419] FIG. 16H to FIG. 16J A plurality of field engaging units 102a, 102b, 120c are shown being implemented simultaneously in a field in accordance with one or more embodiments of the present disclosure. It is noted here that any number of field engaging units may be implemented simultaneously.

[0420] In some cases, a single field engagement unit 102 may not be able to perform one or more field operations within a specified time period, or one or more field operations may be too complex for a single field engagement unit 102 to complete. In one embodiment, multiple field engagement units 102a, 102b, 102c may be operated simultaneously in the field so that the operation instructions of the multiple field engagement units 102a, 102b, 102c are not repeated or interfered. In this regard, the operation can be completed more quickly and efficiently.

[0421] In another embodiment, a plurality of site engagement units 102a, 102b, 102c are coupled to each other. For example, the units 102a, 102b, 102c may be flexibly coupled together by one or more mechanical couplings. It is noted here that such flexible mechanical coupling allows the work tool to move from one site engagement unit to another site engagement unit while still allowing each unit to flexibly pass through undulating ground terrain. However, it is noted here that mechanical coupling may be constraining. For another example, the units 102a, 102b, 102c may be coupled together by one or more wired communication couplings that may be inhibitory, and the wired communication coupling may be inhibitory. For another example, the units 102a, 102b, 102c may be coupled together by one or more wireless communication couplings. It is noted here that wired and wireless communication couplings allow a plurality of units 102a, 102b, 102c to operate in the case of being at a distance or interlaced between each other or in the case of one unit in front of or behind another unit (i.e., the support assembly 104 is shown as not contacting each other).

[0422] In another embodiment, the plurality of field engagement units 102a, 102b, 102c are communicatively coupled to one or more central controllers 1622 via local controllers 130a, 130b, 130c, respectively. For example, the one or more central controllers 1622 may be a cloud-based architecture. In another embodiment (but not shown), the one or more central controllers 1622 are communicatively coupled to one or more controllers including, but not limited to, user controllers 140. In another embodiment, the one or more central controllers 1622 and any communicatively coupled controllers 130a, 130b, 130c, 140 continuously receive multiple sets of information and simultaneously transmit multiple sets of information to each other, the multiple sets of information specifically providing operating conditions and operating parameters for the receiving or transmitting field engagement units. In this regard, the one or more central controllers 1622 and any communicatively coupled controllers 130a, 130b, 130c, 140 may continuously monitor the operating status of the plurality of units 102a, 102b, 102c, including but not limited to the operation of the components of a particular site engaging unit and the operation of the particular site engaging unit relative to adjacent site engaging units. It is noted here that this embodiment requires that all sets of information pass through the one or more central controllers 1622.

[0423] In another embodiment, the plurality of site engaging units 102a, 102b, 102c are further communicatively coupled via local controllers 130a, 130b, 130c, respectively. It is noted that the inter-unit communicatively coupling may be implemented simultaneously or separately from the communicatively coupling of the plurality of units 102a, 102b, 102c and the one or more central controllers 1622. In another embodiment, the one or more central controllers 1622 and any communicatively coupled controllers 130a, 130b, 130c, 140 continuously receive and simultaneously transmit to each other multiple sets of information specifically providing operating conditions and operating parameters for the receiving or transmitting site engaging units. In this regard, the one or more central controllers 1622 and the communicatively coupled local controllers 130a, 130b, 130c may continuously monitor the operating status of the plurality of units 102a, 102b, 102c, including but not limited to the operating status of the components of a particular site engaging unit and the overall operating status of a particular site engaging unit relative to adjacent site engaging units. It should be noted here that this embodiment does not require that all groups of information pass through the one or more central controllers 1622.

[0424] It is noted here that the central controller 1622 may be one or more servers 1622. It is also noted here that the central controller 1622 may be a user controller.

[0425] In one embodiment, the local controllers 130a, 130b, 130c work collectively with the central controller 1622 to coordinate the various functions of the field engaging units 102a, 102b, 102c as a collective controller, eliminating the need for a separate central controller 1622. In another embodiment, the local controllers 130a, 130b, 130c coordinate the functions of the support structure 110, propulsion unit 112, steering assembly 500, and work tool assembly 114 on the respective field engaging units 102a, 102b, 102c. In another embodiment, the field engaging units 102a, 102b, 102c are configured to compare the global positioning system (GPS) location of each field engaging unit 102a, 102b, 102c to monitor, modify, or maintain the separation between the units 102a, 102b, 102c. In another embodiment, the site engaging units 102a, 102b, 102c are configured to compare the location of each site engaging unit 102a, 102b, 102c through location or proximity sensing to monitor, modify or maintain the spacing between the units 102a, 102b, 102c. In another embodiment, the site engaging units 102a, 102b, 102c are configured to compare the location of each site engaging unit 102a, 102b, 102c through in-site wireless communication. In this regard, the site engaging units 102a, 102b, 102c can accurately determine the location of each unit 102a, 102b, 102c relative to one or more known geographic locations.

[0426] In another embodiment, Figure 16K As shown, a single field engagement unit 102 includes a plurality of support assemblies 104 having a plurality of support frames 106 and a plurality of support structures 110. In another embodiment, the local controller 130 continuously receives a plurality of sets of information from the plurality of support assemblies 104 and simultaneously transmits a plurality of sets of information to the plurality of support assemblies, the plurality of sets of information specifically providing operating conditions and operating parameters of the received or transmitted support assemblies 104. In this regard, the field engagement unit 102 simultaneously monitors the operating status of the plurality of support assemblies 104, the operating status including but not limited to the operating status of the components of a particular support assembly 104 and the overall operating status of the particular support assembly 104 relative to other support assemblies 104.

[0427] Please note here, Figures 16H to 1J Multiple site engagement units 102a, 102b, 102c (or Figure 16KCommunication between multiple support assemblies 104 in each site engaging unit 102 may include maintaining the geospatial location of the end support structure 106 at the end of the support assembly 104 in each site engaging unit 102 to a selected tolerance level. It is also noted here that the end support structure 106 at the end may include GPS and / or proximity sensing devices on each support structure 110 to accurately measure and control the position of the site engaging unit 102 relative to other site engaging units 102.

[0428] Although most of the present disclosure focuses on the field engagement unit 102 capable of omnidirectional operation, it should be noted here that this configuration does not limit the scope of the present disclosure. On the contrary, most of the content of the present disclosure can be extended to the context of improving the center pivot irrigation system. FIG. 17A to FIG. 17D 1700 according to one or more embodiments of the present disclosure. It should be noted that the various system embodiments, components and architectures described above should be understood to extend the scope of application to FIG. 17A to FIG. 17D Center pivot docking system unless otherwise specified.

[0429] It is also noted that one or more of the various components or subsystems of the present disclosure may be applicable to any pivot operating environment. For example, any pivot irrigation system known in the art may be retrofitted with one or more of the capabilities of the present disclosure (e.g., work implements, sensors, etc.). Pivot irrigation systems are described in U.S. Patent Publication No. 2007 / 0188605, published on August 16, 2007, and U.S. Patent Publication No. 2008 / 0046130, published on February 21, 2008, the entire contents of which are incorporated herein by reference.

[0430] In one embodiment, if Fig.17A As shown, a central pivot docking station 1702 is coupled to one or more support assembly 104 span devices. In another embodiment, each support structure 110 propels its particular assembly 104 span device around the docking station 1702. It is noted here that each propulsion unit 112 turns at a different angle depending on the distance from the central docking station 1702. For example, the propulsion units 112 closest to the docking station 1702 will turn at an acute angle relative to those propulsion units at the outermost portion farthest from the central pivot 1700.

[0431] In another embodiment, one or more material storage containers 120 may be located near the central pivot docking station 1702. It is noted here that the central pivot docking station 1702 may be implemented with a site engagement unit 102, which includes, for example, Fig. 4I Propulsion unit 112 is shown.

[0432] In another embodiment, the center pivot system 1700 includes a center pivot drive system configured to drive one or more propulsion units of the center pivot field engaging unit, wherein the one or more propulsion units provide rotational control of the center pivot field engaging unit.

[0433] In another embodiment, Fig. 17B As shown, the center pivot docking station 1702 includes a support frame 1703. In another embodiment, the docking station 1702 includes a base 1704 buried under the ground 1701. In another embodiment, the base 1704 includes one or more supply tubes 1704a. For example, the supply tubes 1704a can be matched with supply containers, such as seeds, herbicides, fertilizers, harvested grains, water from irrigation wells, transport materials / products, and underground irrigation water. For another example, one or more supply tubes 1704a can have exposed ends, using which the docking station 1702 can receive materials and / or products from nearby material storage containers 120. In another embodiment, the base 1704 is capable of rotating while allowing continued delivery of input from a storage container 120 located near the docking station 1702. It is noted here that the base 1704 can instead be above ground or only partially buried, depending on the full range of vertical movement required for the corresponding field engagement unit 102.

[0434] In another embodiment, the docking station 1702 includes a material supply component 1705. For example, the material supply component 1705 may include one or more flexible tubes. For example, the material supply component 1705 may include at least the main tube 202 and the auxiliary tube 1424. In another embodiment, the site engagement unit 102 is coupled with a support 1706. In another embodiment, the support 1706 is raised or lowered by an electric, hydraulic, pneumatic, telescopic section, or mechanical drive assembly. In another embodiment, the docking station 1702 includes a series of rollers and bearings throughout the support frame 1703 to help raise or lower the support 1706. In another embodiment, as Fig. 17C Middle position 1710a and Fig.17D As shown in position 1710b, the center pivot docking station 1702 and each support structure 110 both work in conjunction to raise or lower the support assembly 104. In this regard, the work tool assembly 114 on the support assembly 104 can be operated at a desired distance from the ground.

[0435] Note here that the perimeter is greatest at the outermost portion of the unit. Thus, the area of ​​the field is also greatest at the end of the unit, and therefore more work tools are required to balance the total amount of time available per revolution of the entire unit. In another embodiment, where a center pivot docking station 1702 is implemented, the field engaging unit 102 is constructed and / or operated such that one or more work tool assemblies 114 on the field engaging unit 102 are primarily used at the outermost portion of the center pivot field engaging unit to avoid the center pivot docking point.

[0436] In another embodiment, the field engaging unit 102 is permanently coupled to the pivot docking station 1702. In another embodiment, the field engaging unit 102 can be controlled by the local controller 130 so that the field engaging unit self-transports itself from one location to another location (e.g., from one site to a second site). In this case, the local controller 130 can direct the field engaging unit 102 to detach from the first pivot docking station 1702, transport itself to the second pivot docking station 1702, and attach to the second pivot docking station 1702. In this embodiment, the necessary connections including but not limited to power, irrigation water, automatic control, seed product, and chemical lines will automatically disconnect from the first pivot docking station 1702 and reconnect to the second pivot docking station 1702. Alternatively and / or additionally, one or more of the removal process, attachment process, disconnection process, and / or reconnection process can be performed manually. This embodiment is particularly advantageous in the following situations, the individual does not need a permanent structure for on-demand irrigation, but needs to irrigate at different sites at different times. This embodiment allows such users to implement fewer systems and system components, sharing a single unit between multiple sites.

[0437] In another embodiment, the field engagement unit 102 implements current start / stop or variable speed electromechanical or hydroelectric propulsion technology.

[0438] 18 illustrates one or more field engagement units 102 used in livestock applications according to one or more embodiments of the present disclosure. It is noted here that the various system embodiments, components and architectures described above should be understood to extend their applicability to livestock applications of the field engagement unit 102 of FIG. 18 .

[0439] Fig.18A and Fig.18BAn agricultural processing system 1800 according to one or more embodiments of the present disclosure is shown. In one embodiment, the field engagement unit 102 is implemented in a livestock paddock 1800 to manage livestock 1804, wherein the field engagement unit 102 is configured to move along one or more paths 1802. In another embodiment, the field engagement unit 102 is implemented in a livestock pen 1810 to manage livestock 1804, wherein the field engagement unit 102 is configured to move along one or more paths 1802. For example, the livestock pen 1806 can be a building that houses livestock.

[0440] Examples of livestock include cattle, pigs, poultry, etc. However, it should be noted here that the scope of application of the field engagement unit 102 can be extended to animals other than livestock.

[0441] In one embodiment, the support assembly 104 of the field engagement unit 102 is attached with one or more livestock-specific working tool assemblies 114. For example, the livestock-specific working tool assembly 114 may include one or more identification tracking sensors for tracking livestock or monitoring livestock's gathering behavior and environment through ID or DNA, or include one or more identification sensors for transmitting livestock's ID information.

[0442] As another example, the livestock-specific work tool assembly 114 may include: one or more autonomous trough fillers; manure removers, including but not limited to one or more manure scrapers, grapples, buckets, liquid washing equipment or vacuum equipment; sprinklers for cooling livestock and / or cleaning animal fences in hot weather; or one or more pesticide sprayers for applying pesticides to livestock and fences.

[0443] For another example, the livestock-specific working tool assembly 114 may include: one or more cattle prods; one or more livestock traction lassoes; behavioral incentive dispensers (e.g., corrals or reward providers); or one or more livestock relocation equipment, including one or more of corrals, claw-shaped implements, baskets or platforms, for driving or taking away livestock and relocating them to a designated location.

[0444] For another example, the livestock-specific working tool assembly 114 may include: one or more animal health working tools (e.g., thermal cameras) to scan livestock with high temperatures; or one or more visual systems in one or more stalls to scan livestock, collect and measure, and predict unhealthy behaviors. For another example, the livestock-specific working tool assembly 114 may include: one or more robotic arms coupled to one or more inspection devices, wherein the one or more robotic arms coupled to the one or more inspection devices are configured to perform one or more veterinary services, such as completing a health check on the livestock; one or more drug applicators; or one or more robotic arms coupled to one or more surgical tools, wherein the one or more robotic arms coupled to the one or more surgical tools are configured to perform surgical treatments (e.g., helping a cow give birth by pulling out a calf).

[0445] In another embodiment, a corral manure scraper may involve scooping manure from a corral, pushing manure out of a corral, or sucking up manure and transporting it to another location. In another embodiment, the field engagement unit 102 is configured to process manure as a plant fertilizer spreader and then apply manure scrapering.

[0446] It is noted here that the site engagement unit 102 includes one or more system components that control one or more components of the site engagement 102. In one embodiment, the local controller 130 is configured to measure one or more operating parameters of the one or more control system components. For example, the operating parameters may include, but are not limited to, the linear position of the electric actuator, the rotational position of the electric actuator, the voltage of the electric actuator, and the current of the electric actuator. For another example, the operating parameters may include, but are not limited to, the linear position of the hydraulic lift cylinder, the rotational position of the hydraulic lift cylinder, and the pressure of the hydraulic lift cylinder. For another example, the operating parameters may include, but are not limited to, any operating parameters related to the pneumatic system components.

[0447] Although embodiments of the present disclosure are directed to autonomous, near-autonomous, or semi-autonomous functions, it is noted that one or more embodiments of the present disclosure may be operated by a user. In addition, it is noted that any one of the one or more embodiments of the present disclosure may be operated by a self-propelled machine.

[0448] It is noted here that one or more of the components of the field engagement unit 102, such as but not limited to the support frame 106, the work tool track assembly 108, the support structure 110, the propulsion unit 112, the steering assembly 500, the work tool assembly 114 and any component of the work tool assembly 114, the material storage container 120 and the manifold assembly 122, can be implemented on any lateral irrigation system known in the art. It is also noted here that one or more of the following components can be implemented on any center pivot irrigation system known in the art: the support frame 106, the work tool track assembly 108, the support structure 110, the propulsion unit 112, the steering assembly 500, the work tool assembly 114 and any component of the work tool assembly 114, the material storage container 120 and the manifold assembly 122.

[0449] Those skilled in the art will appreciate that the prior art has advanced to the point where there is little distinction between hardware, software, and / or firmware implementations of various aspects of the system, and that the use of hardware, software, and / or firmware is often (but not always, as in certain environments, the choice between hardware and software may become significant) a design choice that represents a tradeoff between cost and efficiency. Those skilled in the art will appreciate that there are various means (e.g., hardware, software, and / or firmware) by which the processes and / or systems and / or other techniques described herein can be implemented, and that the preferred means vary with the context in which the processes and / or systems and / or other techniques are employed. For example, if the implementer determines that speed and accuracy are most important, the implementer may choose primarily hardware and / or firmware means; alternatively, if flexibility is most important, the implementer may choose primarily software implementations; or, still alternatively, the implementer may choose some combination of hardware, software, and / or firmware. Thus, there are several possible means by which the processes and / or devices and / or other techniques described herein can be implemented, and none is inherently superior to the others, as any means used is a choice that depends on the context in which the means will be employed, the implementer's specific considerations (e.g., speed, flexibility, or predictability), any of which may vary. Those skilled in the art will appreciate that implementation of optical aspects typically employs optically-oriented hardware, software, or firmware.

[0450] In some implementations described herein, logic implementations and similar implementations may include software and other control structures. For example, an electronic circuit may have one or more current paths configured and arranged to implement the various functions described herein. In some implementations, one or more media may be configured to support device detectable implementations when such media save or transmit instructions that are operable to perform device detectable instructions of the contents described herein. In some variants, for example, implementations may include updates or modifications of existing software or firmware, or gate arrays or programmable hardware, such as by receiving or transmitting one or more instructions associated with one or more operations described herein. Alternatively or additionally, in some variants, implementations may include dedicated hardware, software, firmware components, and / or general components that execute or otherwise call dedicated components. Descriptions or other implementations may be transmitted by one or more instances of the tangible transmission medium described herein, optionally by packet transmission, or by passing through distributed media at different times.

[0451] Alternatively or additionally, implementation may include executing a dedicated instruction sequence or calling circuits to enable, trigger, coordinate, request or cause one or more occurrences of almost any functional operation described herein. In some variants, the operations or other logic descriptions herein may be expressed as source code and compiled or otherwise called as executable instruction sequences. In some environments, for example, implementation may be provided in whole or in part by source code such as C++ or other code sequences. In other implementations, source code implementations or other code implementations using commercially available technology and / or the art of the art may be compiled / implemented / translated / converted to a high-level descriptor language (e.g., first implementing the described technology in C, C++, python, Ruby on Rails, Java, PHP, .NET or Node.js programming languages, and then converting the programming language implementation into a logically synthesizable language implementation, a hardware description language implementation, a hardware design simulation implementation and / or other such similar expression patterns). For example, some or all of the logic expression (e.g., computer programming language implementation) can be presented as a Verilog-type hardware description (e.g., via a hardware description language (HDL) and / or a very high speed integrated circuit hardware description language (VHDL)) or other circuit models that can then be used to create a physical implementation with hardware (e.g., an application specific integrated circuit). Based on these teachings, those skilled in the art will understand how to obtain, configure, and optimize suitable transmission or computing elements, material supplies, actuators, or other structures.

[0452] The foregoing detailed description sets forth various embodiments of the device and / or process by using block diagrams, flow charts, and / or embodiments. To the extent that these block diagrams, flow charts, and / or embodiments include one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation within these block diagrams, flow charts, or embodiments can be implemented individually and / or collectively by a number of hardware, software, firmware, or almost any combination thereof. In one embodiment, several parts of the subject matter described herein may be implemented by application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), digital signal processors (DSPs), or other integrated formats. However, it will be understood by those skilled in the art that all or part of some aspects of the embodiments disclosed herein may be implemented equivalently in an integrated circuit as one or more computer programs (e.g., one or more programs running on one or more computer systems), one or more programs running on one or more processors (e.g., one or more programs running on one or more microprocessors), firmware, or almost any combination thereof, and it is fully possible for those skilled in the art to design circuits and / or write code for software and / or firmware according to the present disclosure. In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein can be distributed as a variety of forms of program products, and that the illustrative embodiments of the subject matter described herein apply regardless of the particular type of signal-bearing medium used to actually perform the distribution. Examples of signal-bearing media include, but are not limited to, the following: recordable media such as floppy disks, hard drives, compact disks (CDs), digital video disks (DVDs), digital tapes, computer memories, and the like; and transmission media such as digital and / or analog communication media (e.g., optical cables, waveguides, wired communication links, wireless communication links (e.g., transmitters, receivers, transmission logic, reception logic, etc.), and the like).

[0453] In general, those skilled in the art will understand that the various embodiments described herein can be implemented individually and / or collectively by various types of electromechanical systems having: various electrical components, such as hardware, software, firmware and / or nearly any combination thereof; and various components that can apply mechanical force or motion, such as rigid bodies, springs or torsion bodies, hydraulic devices, electromechanical actuation devices and / or nearly any combination thereof. Thus, as used herein, "electromechanical systems" include, but are not limited to, circuit systems operatively coupled to transducers (e.g., actuators, motors, piezoelectric crystals, microelectromechanical systems (MEMS), etc.), circuit systems having at least one discrete circuit, circuit systems having at least one integrated circuit, circuit systems having at least one application specific integrated circuit, circuit systems forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program that at least partially implements the processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially implements the processes and / or devices described herein), circuit systems forming a storage device (e.g., a form of memory (e.g., random access, flash memory, read-only, etc.)), circuit systems forming a communication device (e.g., a modem, a communication switch, an optoelectronic device, etc.), and / or any non-electrical analogs of these, such as optical analogs or other analogs. Those skilled in the art will also appreciate that examples of electromechanical systems include, but are not limited to, various consumer electronic systems, medical devices, and other systems, such as motorized transportation systems, factory automation systems, security systems, and / or communication / computing systems. Those skilled in the art will appreciate that electromechanical as used herein is not necessarily limited to systems having both electrical and mechanical actuation, unless the context might dictate otherwise.

[0454] In general, those skilled in the art will appreciate that the various aspects described herein, which may be implemented individually and / or collectively by various hardware, software, firmware, and / or any combination thereof, may be considered to be comprised of various types of "circuitry." Thus, "circuitry" as used herein includes, but is not limited to, circuitry having at least one discrete circuit, circuitry having at least one integrated circuit, circuitry having at least one application-specific integrated circuit, circuitry forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer configured by a computer program that at least partially implements the processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially implements the processes and / or devices described herein), circuitry forming a storage device (e.g., a memory form (e.g., random access, flash memory, read-only, etc.)), circuitry forming a communication device (e.g., a modem, a communication switch, an optoelectronic device, etc.). Those skilled in the art will appreciate that the subject matter described herein may be implemented in an analog or digital manner, or some combination thereof.

[0455] Those skilled in the art will appreciate that a portion of the devices and / or processes described herein may be incorporated into a data processing system. Those skilled in the art will appreciate that a data processing system generally includes: a system unit housing; a video display device; a memory, such as a volatile or non-volatile memory; a processor, such as a microprocessor or a digital signal processor; a computing entity, such as an operating system, a driver, a graphical user interface, and an application; one or more interactive devices (e.g., a touch pad, a touch screen, an antenna, etc.); and / or a control system, including one or more of a feedback loop and a control motor (e.g., feedback for sensing position and / or velocity; a control motor for moving and / or adjusting components and / or quantities). The data processing system may be implemented using suitable commercially available components such as those commonly found in data computing / communication and / or network computing / communication systems.

[0456] Those skilled in the art will appreciate that the components (e.g., operations), devices, objects, and accompanying discussions described herein are used as examples to illustrate concepts, and various configuration modifications are contemplated. Therefore, as used herein, the specific examples given and the accompanying discussions are intended to represent their more general categories. In general, the use of any specific example is intended to represent its category, and the failure to include specific components (e.g., operations), devices, and objects should not be construed as limiting.

[0457] Although user is described herein in the singular, those skilled in the art will appreciate that user can represent a human user, a robotic user (e.g., a computing entity), and / or substantially any combination thereof (e.g., a user can be assisted by one or more robots), unless the context indicates otherwise. Those skilled in the art will appreciate that, in general, the same applies to "transmitter" and / or other entity-oriented terms, as such terms are used herein, unless the context indicates otherwise.

[0458] With respect to the use of substantially any plural and / or singular terms herein, those skilled in the art can convert the plural to the singular and / or the singular to the plural as the context and / or application requires. For clarity, various singular / plural arrangements are not explicitly given herein.

[0459] The subject matter described herein sometimes describes different components contained or connected therein, and different other components. It is to be understood that the architecture depicted in this way is merely exemplary, and many other architectures that achieve the same function can actually be implemented. Conceptually, any arrangement of components that achieve the same function is effectively "associated" so that the desired function is achieved. Therefore, any two components herein combined to achieve a specific function can be regarded as "associated" with each other so that the desired function is achieved, regardless of the architecture or intermediate components. Similarly, any two components associated in this way can also be regarded as "operationally connected" or "operationally coupled" to achieve the desired function, and any two components that can be so associated can also be regarded as "operationally coupled" to each other to achieve the desired function. Specific examples of operable coupling include, but are not limited to, components that can physically match and / or physically interact, and / or components that can wirelessly interact and / or wirelessly interact, and / or components that can logically interact and / or logically interact.

[0460] In some cases, one or more components may be referred to herein as being "configured to," "configurable to," "operable / operable to," "suitable / capable to," "capable of," "capable of being adapted / capable of being adapted to," etc. Those skilled in the art will understand that such terms (e.g., "configured to") may generally encompass components in an active state and / or components in an inactive state and / or components in a standby state, unless the context requires otherwise.

[0461] Although specific aspects of the subject matter described herein have been shown and described, it is apparent to those skilled in the art that changes and modifications may be made in accordance with the teachings herein without departing from the subject matter described herein and its broader aspects, and therefore, the appended claims encompass all such changes and modifications within their scope and within the true spirit and scope of the subject matter described herein. Those skilled in the art will understand that, in general, the terms used herein, especially the terms used in the appended claims (e.g., the body of the appended claims), generally mean "open" terms (e.g., the term "including" should be understood as "including but not limited to", the term "having" should be understood as "at least having", the term "includes" should be understood as including but not limited to", etc.). Those skilled in the art will also understand that if a specific number of leading claim records is intended, such intention will be explicitly stated in the claim, and there is no such intention if there is no such statement. For example, to aid understanding, the appended claims may use the introductory phrases "at least one" and "one or more" to lead claim records. However, the use of such phrases should not be construed as implying that any particular claim including such introduced claim recitation by the indefinite article "a" or "an" is limited to claims including only one such recitation, even if the claim includes the introductory phrases "one or more" or "at least one" and an indefinite article such as "a" or "an" (e.g., "a" and / or "an" should generally be understood to mean "at least one" or "one or more"); the same applies to the use of definite articles used to introduce claim recitations. In addition, even if a specific number of introduced claim recitations is explicitly recited, those skilled in the art will understand that such recitation should generally be understood to mean at least the recited number (e.g., a single recitation such as "two recitations" without other modifiers generally means at least two recitations or two or more recitations). Furthermore, in those instances where phraseology similar to “at least one of A, B, and C, etc.” is used, such configuration is generally intended to have the following meaning: persons skilled in the art will understand the phraseology (e.g., “a system having at least one of A, B, and C” includes but is not limited to a system having only A, a system having only B, a system having only C, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.). In those instances where phraseology similar to “at least one of A, B, and C, etc.” is used, such configuration is generally intended to have the following meaning: persons skilled in the art will understand the phraseology (e.g., “a system having at least one of A, B, and C” includes but is not limited to a system having only A, a system having only B, a system having only C, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.).Those skilled in the art will also understand that distinct conjunctions and / or phrases that introduce two or more alternative terms, whether in the specification, claims or drawings, should be understood to contemplate the possibility of including one of the terms, either of the terms, or both of the terms, unless the context indicates otherwise. For example, the phrase "A or B" is generally understood to include the possibility of "A" or "B" or "A and B".

[0462] With respect to the appended claims, those skilled in the art will appreciate that the operations described therein may generally be performed in any order. In addition, although various operational flows are presented in order, it should be understood that these various operations may be performed in an order different from those described or may be performed simultaneously. Examples of such alternative orderings may include overlapping, interleaving, interrupting, reordering, increasing, preparatory, supplementing, simultaneously, reversing, or other variant orderings, unless the context indicates otherwise. In addition, terms such as "responsive to," "related to," or other past tense adjectives are generally not intended to exclude these variants, unless the context indicates otherwise.

Claims

1. A farming system comprising: A site joining unit, the site joining unit comprising: A support assembly, the support assembly comprising: a support frame; one or more work tool track assemblies; and one or more support structures; one or more propulsion units, wherein the one or more propulsion units are configured to provide omnidirectional control of the field engagement unit; one or more work tool assemblies, wherein the one or more work tool track assemblies are positioned such that the one or more work tool assemblies are actuatable along the one or more work tool track assemblies to provide selective access of one or more work tool attachments of the one or more work tool assemblies to one or more areas located below the support frame; and A controller, wherein the controller includes one or more processors, the one or more processors being configured to execute a set of program instructions stored in a memory, wherein the program instructions are configured to cause the one or more processors to control the position of the one or more work tool assemblies along the one or more work tool rail assemblies so as to actuate the one or more work tool assemblies along the one or more work tool rail assemblies to a selected position of the support frame.

2. The farming system according to claim 1, wherein: The program instructions are configured to cause the one or more processors to autonomously control one or more propulsion units of the site engaging unit based on the one or more measured characteristics to provide omnidirectional and autonomous positioning control of the site engaging unit.

3. The farming system of claim 1, further comprising: One or more material storage containers.

4. The farming system according to claim 3, wherein: The one or more material storage containers are disposed on the support assembly.

5. The farming system according to claim 4, wherein: The one or more material storage containers are coupled to at least one of: the one or more support structures, the support frame, or the one or more work tool assemblies.

6. The farming system of claim 3, further comprising: One or more assemblies configured to dispense one or more materials stored in the one or more material storage containers to one or more work tool assemblies of the field engaging unit.

7. The farming system of claim 1, wherein: The supporting frame comprises: a truss.

8. The farming system of claim 1, wherein: The support assembly includes an adjustable support assembly.

9. The farming system of claim 1, wherein: The one or more support structures are actuatable to adjust the elevation of the support assembly.

10. The farming system of claim 1, wherein: The one or more propulsion units comprise one or more drive wheels.

11. The farming system of claim 1, wherein: The one or more propulsion units include one or more tracks.

12. The farming system of claim 1, wherein: The one or more propulsion units are mechanically coupled to the support assembly via one or more steering assemblies.

13. The farming system of claim 1, wherein: At least a first propulsion unit of the one or more propulsion units is configured to be actuated independently of at least a second propulsion unit of the one or more propulsion units.

14. The farming system of claim 1, wherein: The two propulsion units are configured to be actuated simultaneously.

15. The farming system of claim 1, wherein: The one or more work tool attachments include: At least one of a plant phenotyping accessory, an agronomic imaging accessory, a weeding accessory, a nutrient application accessory, a fertilizer application accessory, a nutrient and fertilizer combination application accessory, a spraying accessory, a soil sampling accessory, a soil measurement accessory, a soil sampling and soil measurement combination accessory, a planting accessory, a detasseling accessory, an irrigation accessory, a harvesting accessory, or a biomass collection accessory.

16. The farming system of claim 1, further comprising: One or more sources of electrical power.

17. The farming system of claim 1, further comprising: A server is communicatively coupled to the controller and is accessible by the user controller.

18. The farming system of claim 17, wherein: The program instructions are configured to cause the one or more processors to: receiving one or more groups of information; analyzing the one or more sets of information; selecting one or more responses based on the analyzed one or more sets of information; as well as The one or more responses are transmitted to one or more components of the field engagement unit.

19. The farming system of claim 18, wherein: The one or more sets of information are received from at least one of: one or more in-venue sensors, one or more sensors on the one or more components of the venue engaging units, the server, or the user controller.

20. The farming system of claim 18, wherein: The one or more sets of information include one or more operating parameters of the one or more components of the field engaging unit.

21. The farming system of claim 18, wherein: The one or more responses include one or more operating parameters of one or more components being controlled of the field engagement unit.

22. The farming system of claim 1, wherein: The site engagement unit is configured to be self-transported from a first site to a second site.

23. The farming system of claim 1, wherein: The site engaging unit is configured to be transported via at least one of a platform trailer, a flatbed trailer, an enclosed trailer, or a shipping container.

24. The farming system of claim 3, further comprising: A docking station, wherein the field engaging unit is capable of reversibly coupling with the docking station, wherein the docking station is configured to implement at least one of the following: transferring one or more materials from the docking station to the one or more material storage containers of the field engaging unit, or charging one or more batteries on the field engaging unit.

25. A farming system comprising: a site engagement unit, the site engagement unit comprising a support assembly having a support frame; a docking station, wherein the field engaging unit is reversibly couplable to the docking station, wherein the docking station is configured to at least one of: transfer one or more materials from the docking station to one or more material storage containers of the field engaging unit, or charge one or more batteries on the field engaging unit; and A controller, wherein the controller includes one or more processors configured to execute a set of program instructions stored in a memory, wherein the program instructions are configured to cause the one or more processors to cause the field engaging unit to travel to the docking station to dock with the docking station, and the program instructions are configured to cause the one or more processors to control the position of one or more work tool assemblies of the field engaging unit along one or more work tool track assemblies of the field engaging unit so as to actuate the one or more work tool assemblies along the one or more work tool track assemblies of the field engaging unit to a selected position of the support frame.

26. A farming system comprising: A plurality of site engagement units, wherein each of the plurality of site engagement units comprises: a support assembly having a support frame; a local controller, wherein the local controller comprises one or more local processors configured to execute a set of program instructions stored in a local memory, wherein the program instructions are configured to cause the one or more local processors to control one or more components of a field engaging unit of the plurality of field engaging units; and A central controller, wherein the central controller includes one or more processors configured to execute a set of program instructions stored in a memory, wherein the central controller is communicatively coupled to each of the local controllers of the plurality of field engaging units, wherein the program instructions are configured to cause the one or more processors to coordinate one or more actions of two or more of the plurality of field engaging units, and wherein the program instructions are configured to cause the one or more processors to control the position of one or more work tool assemblies of the field engaging units along one or more work tool track assemblies of the field engaging units so as to actuate the one or more work tool assemblies along the one or more work tool track assemblies of the field engaging units to a selected position of the support frame.

27. A livestock handling system comprising: A joining unit, the joining unit comprising: a support assembly, wherein the support assembly includes one or more work tool track assemblies, one or more support structures, and a support frame; one or more propulsion units; one or more work tool assemblies, wherein the one or more work tool track assemblies are positioned parallel to the support frame such that the one or more work tool assemblies are actuatable along the one or more work tool track assemblies to provide selective access of one or more work tool attachments of the one or more work tool assemblies to one or more areas of a livestock enclosure located below the support frame; and A controller, wherein the controller includes one or more processors configured to execute a set of program instructions stored in a memory, wherein the program instructions are configured to cause the one or more processors to control the position of the one or more work tool assemblies along the one or more work tool track assemblies so as to actuate the one or more work tool assemblies along the one or more work tool track assemblies to a selected position within the livestock fence.

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