Implementations of a data acquisition unit for a ground vehicle may include an enclosure; a single board computer included in the enclosure; and a base board; operatively coupled with the single board computer. The data acquisition unit may include an optocoupler operatively coupled with the single board computer; at least one chlorophyll fluorescence sensor coupled with the optocoupler; at least one camera coupled to the base board; and a global positioning sensor coupled with the base board. The data acquisition unit may include a flow meter coupled with the single board computer; and a power source operatively coupled with the single board computer and with the base board.

For each of a plurality of spray nozzles of an autonomous agricultural vehicle, a set of instructions provided by the autonomous agricultural vehicle to the spray nozzle is accessed. Each instruction in the set is generated by analyzing a respective image of a portion of a geographic area captured by the autonomous agricultural vehicle. A spray performance of at least one spray nozzle from among the plurality of spray nozzles is identified as an outlier by analyzing the sets of instructions respectively provided to the plurality of spray nozzles. An action with respect to the at least one spray nozzle identified as the outlier is performed. The action may be to place the vehicle in fallback state in which a targeted spray may be switched to broadcast spray.

Implements include application units for placement of fluid applications with respect to agricultural plants of agricultural fields. In one embodiment, an application unit includes a frame to be positioned in operation between two rows of plants and a plurality of flexible members coupled to the frame in operation such that the plurality of flexible members guide a lateral position of the frame to be approximately equidistant from the two rows of plants based upon whether at least one flexible member of the plurality of flexible members contacts one or more plants of the two rows of plants. The plurality of flexible members include a plurality of fluid outlets for spraying crop input in close proximity to the rows of plants.

The agricultural sprayer includes a base with two vertical guides fixed thereon and carriages mounted on and capable of traveling along said guides. A ducted fan is turnably mounted on axles between the carriages. The inner surface of the fan duct is equipped with nozzles connected to a liquid container. One of the carriages consists of two parts: the first and the second one, with the second part capable of moving relative to the first one. The first and the second parts of said carriage have a duct-swinging crank-rocker mechanism mounted thereon. Said mechanism is configured for setting the inclination angle of the fan duct and adjusting its oscillation amplitude.

Implements include application units for placement of fluid applications with respect to agricultural plants of agricultural fields. In one embodiment, an application unit includes a frame to be positioned in operation between two rows of plants and a plurality of flexible members coupled to the frame in operation such that the plurality of flexible members guide a lateral position of the frame to be approximately equidistant from the two rows of plants based upon whether at least one flexible member of the plurality of flexible members contacts one or more plants of the two rows of plants. The plurality of flexible members include a plurality of fluid outlets for spraying crop input in close proximity to the rows of plants.

For each of a plurality of spray nozzles of an autonomous agricultural vehicle, a set of instructions provided by the autonomous agricultural vehicle to the spray nozzle is accessed. Each instruction in the set is generated by analyzing a respective image of a portion of a geographic area captured by the autonomous agricultural vehicle. A spray performance of at least one spray nozzle from among the plurality of spray nozzles is identified as an outlier by analyzing the sets of instructions respectively provided to the plurality of spray nozzles. An action with respect to the at least one spray nozzle identified as the outlier is performed. The action may be to place the vehicle in fallback state in which a targeted spray may be switched to broadcast spray.

A working vehicle includes a vehicle body, a traveling device to support the vehicle body such that the vehicle body is allowed to travel, a working device to perform work. The working device includes pieces of equipment located at opposite sides of the vehicle body from each other.