An agricultural machine includes a set of ground engaging elements that perform a ground engaging operation. The agricultural machine includes a rearward sensor mounted to the agricultural machine to sense an area of ground behind the agricultural machine and generate a rearward sensor signal. The agricultural machine includes rearward zone generator logic that determines a first zone and a second zone, wherein the first zone and the second zone represent portions of the area of ground behind the agricultural machine. The agricultural machine includes rearward residue generator logic configured to receive the rearward sensor signal and determine a first residue metric indicative of the amount of residue in the first zone. The agricultural machine includes control logic that controls one or more aspects of the ground engaging operation on the area of ground based on the first residue metric.

The present invention provides a system for conducting agricultural operations in a field using one or more autonomous vehicles in which the agricultural operations may be optimized during run time. The system includes providing a mission plan for an autonomous vehicle, receiving progress updates from the vehicle as it conducts an agricultural operation according to the mission plan, and monitoring for event conditions which may he reported by the vehicle. Event conditions may include, for example, detection of an obstacle, or an oncoming vehicle, or a disablement of the vehicle. Upon receiving an event condition, the system may revise the mission plan to resolve the event condition while providing an optimization based on current agricultural conditions.

The present invention provides a system for conducting agricultural operations in a field using one or more autonomous vehicles in which the agricultural operations may be optimized during run time. The system includes providing a mission plan for an autonomous vehicle, receiving progress updates from the vehicle as it conducts an agricultural operation according to the mission plan, and monitoring for event conditions which may he reported by the vehicle. Event conditions may include, for example, detection of an obstacle, or an oncoming vehicle, or a disablement of the vehicle. Upon receiving an event condition, the system may revise the mission plan to resolve the event condition while providing an optimization based on current agricultural conditions.

An apparatus for in-situ reconditioning of a media used in an effluent treatment bed is disclosed, in which passage of effluent has become impeded by clogging matter within the media, the bed having been planted with vegetation having roots extending into the media. The apparatus includes a frame supporting a superstructure operable to be disposed above a surface of the bed when in operation, a pair of spaced apart arms having distal ends extending downwardly from the frame, and an agitator extending between the pair of arms and having tines for sub-surface tilling of the media. The agitator is coupled to a drive system operable to cause rotation thereof. A lifter bar is disposed between the arms above the agitator such that when the frame is advanced through the bed the lifter bar passes through the bed below a primary root zone of the vegetation lifting and separating the primary root zone while the agitator tills the media below causing clogging matter to be separated from the media.

An apparatus for in-situ reconditioning of a media used in an effluent treatment bed is disclosed, in which passage of effluent has become impeded by clogging matter within the media, the bed having been planted with vegetation having roots extending into the media. The apparatus includes a frame supporting a superstructure operable to be disposed above a surface of the bed when in operation, a pair of spaced apart arms having distal ends extending downwardly from the frame, and an agitator extending between the pair of arms and having tines for sub-surface tilling of the media. The agitator is coupled to a drive system operable to cause rotation thereof. A lifter bar is disposed between the arms above the agitator such that when the frame is advanced through the bed the lifter bar passes through the bed below a primary root zone of the vegetation lifting and separating the primary root zone while the agitator tills the media below causing clogging matter to be separated from the media.

A rotary tiller comprises a frame, a cylindrical drum rotatable relative to the frame, a plurality of tines extending from the cylindrical drum, a motor at least partially disposed within the cylindrical drum, wherein the motor is configured to rotate a motor output member, and a transmission at least partially disposed within the cylindrical drum and configured to engage the motor output member. The transmission is operable to drive rotational movement of the cylindrical drum.

A rotary tiller comprises a frame, a cylindrical drum rotatable relative to the frame, a plurality of tines extending from the cylindrical drum, a motor at least partially disposed within the cylindrical drum, wherein the motor is configured to rotate a motor output member, and a transmission at least partially disposed within the cylindrical drum and configured to engage the motor output member. The transmission is operable to drive rotational movement of the cylindrical drum.

A soil penetrating apparatus having an automatic tool (e.g., aerator tine) depth control system and method. The system includes an actuator that sets and controls tine depth, a sensor that monitors tine depth, and a controller that controls the actuator in response to the sensor. In some embodiments, the actuator is a hydraulic actuator, wherein once tine depth is set, flow to the actuator is bypassed. A relief may be provided to allow the tines to lift to a shallower depth temporarily when soil hardness exceeds a threshold. The system may then automatically return the tines to the pre-selected depth once soil conditions permit.

A soil penetrating apparatus having an automatic tool (e.g., aerator tine) depth control system and method. The system includes an actuator that sets and controls tine depth, a sensor that monitors tine depth, and a controller that controls the actuator in response to the sensor. In some embodiments, the actuator is a hydraulic actuator, wherein once tine depth is set, flow to the actuator is bypassed. A relief may be provided to allow the tines to lift to a shallower depth temporarily when soil hardness exceeds a threshold. The system may then automatically return the tines to the pre-selected depth once soil conditions permit.

A structural element for a housing structure of a heating device. The structural element is at least essentially, especially completely, developed as a foam part, preferably as a thermoplastic casting foam part. In addition, a housing structure is described, which has a corresponding structural element, preferably at least two corresponding structural elements. Moreover, a heating device is described that includes at least one corresponding structural element and/or a corresponding housing structure. In addition, a method for mounting a corresponding housing structure is described.