Systems, devices, and methods for performing autonomous agricultural operations are described herein. An exemplary device may include a toolbar to which a plurality of implements may be interchangeably coupled, and a pair of parallel chassis beams mounted perpendicularly on the toolbar. At least a portion of each of the chassis beams may be telescopic and configured to be extended outward from, and retracted inward towards, the toolbar. The device may also include a plurality of drive assemblies each mounted on one of the chassis beams, and a plurality of motors corresponding to the drive assemblies and configured to drive the drive assemblies in accordance with one or more drive parameters to move the device throughout a site. The device may further include a computing device configured to automatically determine the drive parameters, and cause the plurality of motors to drive the corresponding drive assemblies in accordance with the drive parameters.

It is disclosed a height control system with respect to the ground of wheel protective frame 40 for working vehicle 10 for an agricultural applicator, wherein the wheel protective frame 40 is mounted on the wheel 14, 16 by means of at least one bearing 53,54 aligned with the center of rotation of the vehicle wheel, and a position guide 55 which is associable with the upper cast 50 of the suspension by means of a pin 56 to prevent rotation of the protective frame 40 and also maintain the position of the protective frame 40 at any height that the suspension of the vehicle is. The position guide 55 comprises a geometry oriented vertically and compatible with the path travelled by the first end 521 of a damping element 52, which is associated with the center of the wheel 14, 16.

An herbicide spreader is capable of changing a spreading width of an herbicide. The herbicide spreader includes: a pair of upper shafts facing with a predetermined interval therebetween in a front and rear direction; a pair of side frames on left and right sides of both the upper shafts; a pair of operation handles connected to both side frames; a spray nozzle mounted to the upper shafts; wheels mounted to both side frames; and a cover sheet for covering portions of a frame main body formed with the pair of upper shafts and both side frames except the bottom. The side frames and the operation handles are rotatably connected to the upper shafts, and opening and closing angle between the left and right side frames is variable and adjusted by operating the pair of operation handles in a direction for bringing them close to or away from each other.

An autonomous spraying platform is provided. The autonomous spraying platform has a main frame platform supported by a first and a second wheel in tandem. Supported by the main frame platform and extended perpendicular thereto are extended booms having multiple movable and/or telescoping arms which touch the ground on each side by small wheels for balance and sensing of the ground. Liquids, foams or powders, which may carry pesticides, herbicides, insecticides, fungicides, fertilizers or other pro-growth ingredients, may be dispensed across the bottom edge of the extended booms. The main frame platform may be controlled locally by sensors utilizing GPS (or other positioning technology) or remotely by a computer or even alive operator. The device may allow for real-time precise delivery of pro-growth materials to plants.

A front-boom sprayer is provided that includes a boom center section and lift arm arrangement that provides a field of view below the boom when the boom is in a raised state that is substantially free of view obstructions from torque tube or other crosswise-extending components. The lift arm arrangement may provide different link tube geometries so that the respective left and right pairs of upper and lower lift arms align with each other in the line of sight of the in-cab operator.

A multipurpose machine for cultivating trees, comprising an inverted U-shape structure that enables the machine to pass over existing trees or fruit 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 means of 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.

A boom truss structure for an agricultural sprayer that includes boom segments on either side of the sprayer, including primary boom segments, secondary boom segments attached to the primary boom segments at a first hinge, and breakaway boom segments attached to the secondary boom segments at a second hinge. The primary boom segment includes truss elements extending upwardly from a base support member. The secondary boom also includes a base support member, but with an inverted underside truss support member that is located underneath the base support member instead of on top of the base support member. This allows the secondary boom segment to fold on top of the primary boom segment in a compact manner about a lower pivot axis. Additionally, the breakaway boom segment may be folded initially about the secondary boom segment, after which the secondary boom segment is folded about the primary boom segment.

A wheel-mounting assembly for a utility vehicle includes a chassis and a wheel support assembly mounted to respective outboard ends of first and second telescopic axle assemblies. The first and second telescopic axle assemblies are laterally spaced from one another and are each secured to the chassis. The first and second telescopic axle assemblies each include a respective actuator arranged to control extension and retraction thereof for steering and track-width control.

An apparatus includes a housing; a spherical bearing disposed within the housing; a shaft disposed in part beneath the housing and penetrating a portion of the spherical bearing; a bellow circumscribing a lower portion of the housing and providing an interface between the spherical bearing and the shaft; and a cover adjacent a lower end of the bellow and having a circumferential groove configured to enable rotational movement of the bellow, the cover extending to and circumferentially surrounding a portion of the shaft to seal the shaft.

Crop input application systems, methods and apparatus are provided. In some embodiments, an irrigation system is provided with a reel in fluid communication with a wellhead, secondary cart or fluid supply line outlet. In some embodiments, a drop assembly is incorporated in an irrigation system. In some embodiments, a crop applicator system traverses a field portion at a first speed in a first direction and then traverses the field portion at a second, lower speed in a second, opposite direction