Implementations include providing a baseline multi-dimensional model of a cultivar, determining an encoding based on the baseline multi-dimensional model, and a target multi-dimensional model, the encoding defining a string of symbols, and being based on an alphabet and a set of rules, providing an expected multi-dimensional model based on the encoding, and a modified set of rules, the modified set of rules being based on the set of rules, the expected multi-dimensional model representing the cultivar after a period of time, selecting a set of actions by determining multiple predicted multi-dimensional models for each set of actions in a plurality of sets of actions, and, for each predicted multi-dimensional model, providing a predicted yield that can be used to determine impact with respect an expected yield, the set of actions being selected based on a respective impact, and providing the set of actions as output for executing on the cultivar.

An apparatus for tending to rows of vines is presented which may be pulled, or driven, between a pair of rows of a vineyard. The apparatus includes implements to tend to the vines on both rows at the same time. The apparatus include a left portion that tends to a left row of vines and right portion that tends to a right row of vines. The portions are attached to the apparatus using linkages that permit the portions to adjust to changes in row spacing or the position of the apparatus between the rows. The apparatus also includes weeder assemblies that weed the ground between the vines while preventing damage to the vines, and a spray device for spraying the vines.

An organic material and plant vine chopper assembly has two plant vine chopper rotor drum assemblies that chop plant vines and other organic material. Each rotor drum assembly has a plurality of rotor rings each ring having a plurality of angled blades that effectively cooperate with each other to guard each blade and the drum against the wrapping of clogging fibrous strands and other clogging material around the drum. Each chopper rotor drum assembly incorporates a plurality of rotor rings spaced along and encircling and attached to a main drum tube and distributed in a cutting zone along and surrounding the longitudinal rotational axis of the drum tube with each rotor ring having a pair or a plurality of pairs of cutting blades attached to respective alternately angled mounting tabs that alternate to the left and to the right to the general plane of the rotor ring.

An organic material and plant vine chopper assembly has two plant vine chopper rotor drum assemblies that chop plant vines and other organic material. Each rotor drum assembly has a plurality of rotor rings each ring having a plurality of angled blades that effectively cooperate with each other to guard each blade and the drum against the wrapping of clogging fibrous strands and other clogging material around the drum. Each chopper rotor drum assembly incorporates a plurality of rotor rings spaced along and encircling and attached to a main drum tube and distributed in a cutting zone along and surrounding the longitudinal rotational axis of the drum tube with each rotor ring having a pair or a plurality of pairs of cutting blades attached to respective alternately angled mounting tabs that alternate to the left and to the right to the general plane of the rotor ring.

An apparatus for trimming plant material includes a rotatable tumbler through which the plant material is to be axially propagated while rotationally tumbling, and a plurality of cutting reel systems adjacent the tumbler. The plurality of cutting reel systems includes a first cutting reel system adjacent the tumbler, and a second cutting reel system adjacent a landing zone of the rotatable tumbler. The landing zone is an angular range about the axis of the tumbler within which plant material tends to land on the tumbler after tumbling through a central volume of the tumbler.

An autonomous agricultural robot, referred to as robot, including: a straddle chassis defining an aisle through which a row of crops can pass, propulsion means for moving the robot in a direction of forward travel, a control unit for controlling the robot and an obstacle-characterization device. This device including: obstacle detection means which are configured to detect an obstacle lying in the path of the autonomous agricultural robot, a processing unit configured so that when an obstacle is detected by the obstacle-detection means, the unit logs the data collected by the obstacle-detection means, and/or processes the data collected by the obstacle-detection means and determines at least one characteristic of the detected obstacle.

An agricultural machine including a vegetable sucker-removing device includes: an arm extending from the agricultural machine; at least one actuator device; a support structure extending to the arm, the support structure being coupled to the arm by a main shaft extending along a vertical main axis, at least one first bearing interposed between the main shaft and the arm, and at least one second bearing interposed between the main shaft and the support structure, a cutting system including at least a first disc and a second disc, wherein the first disc is coupled to the support structure by a first shaft extending from the first disc along a first axis of rotation, and wherein the second disc is coupled to the support structure by a second shaft extending from the second disc along a second axis of rotation, a transmission system connecting the actuator device to the main shaft and the main shaft to the first shaft of the first disc and to the second shaft of the second disc.

A device and method of thinning grape vine shoots comprises a Normalized Differential Vegetative Index (NDVI) sensor. Further, the device comprises a shoot removal whip assembly configured to remove at least one grape vine shoot per stroke. Further, the device comprises a programmable logic controller (PLC) to control the shoot removal whip assembly, the programmable logic controller comprising a memory unit and a processor. Further, the memory unit stores information regarding optimal shoot height and density parameters, and a set of program modules. The processor contained in the PLC takes readings of shoot height and density via the NDVI sensor, and sends an output to a proportional hydraulic valve. The PLC also takes an input from an adjustable gain potentiometer, which allows the user to increase or decrease the acceptable shoot parameters. Via the signal sent to the proportional hydraulic valve, the PLC controls the shoot removal whip assembly, in order to remove a variable number of shoots. This variable shoot removal can be any number from 0 to 25, in any given area along the grape vine. This variable control of the removal whip assembly results in a grape vine that has a balanced number and density of growth shoots.

Perforated rotating attraction drum of a general cylindrical shape and featuring openings, this drum being fitted for being mounted on a leaf-stripping head of the leaves of a foliage wall such as a row of vine-stock, characterized in that it features the superposition of a plurality of rings presenting an outside cylindrical surface, and of a plurality of annular openings made between two successive rings, these openings allowing the passage of a suction air flow across and towards the inside of the perforated rotating attraction drum featuring, internally, means of rigid assembly of the plurality of stacked rings and a coupling means to a motorization for its rotational drive.

A multipurpose machine for cultivating trees, comprising an inverted U-shape structure that enables the machine to pass over existing trees to carry out pruning, disinfection or fruit picking tasks, provided at the bottom with wheels, driven by at least one motor that autonomously facilitates the movement thereof, and respective upper frames that telescopically couple to each other, being driven by respective cylinders to move the portion of the structure on the right with respect to the one on the left in order to vary the width of the machine. Likewise, the machine has the ability to raise or lower the upper structure of the same to adapt it to the height of the trees to be cultivated.