A system for determining agricultural vehicle guidance quality includes an imaging device configured to capture image data depicting a plurality of crops rows present within a field as an agricultural vehicle travels across the field. Additionally, the system includes a controller communicatively coupled to the imaging device. As such, the controller configured to determine a guidance line for guiding the agricultural vehicle relative to the plurality of crop rows based on the captured image data. Furthermore, the controller is configured to determine a crop row boundary consistency parameter associated with one or more crop rows of the plurality of crop row present within a region of interest of the captured image data. Moreover, the controller is configured to determine a quality metric for the guidance line based on the crop row boundary consistency parameter.

A mobile tower for use with an irrigation system comprises a frame, first and second spindles, a first height adjustment assembly, and a second height adjustment assembly. The frame is configured to support a fluid-carrying conduit of the irrigation system. The first and second spindles each include a generally upright beam. The first height adjustment assembly is rigidly connected to a first side of the frame and movably coupled to the first spindle. The first height adjustment assembly includes a first mechanism configured to raise or lower the first side of the frame relative to the first spindle. The second height adjustment assembly is rigidly connected to a second side of the frame and movably coupled to the second spindle. The second height adjustment assembly includes a second mechanism configured to raise or lower the second side of the frame relative to the second spindle.

A mobile tower for use with an irrigation system comprises a frame, first and second spindles, a first height adjustment assembly, and a second height adjustment assembly. The frame is configured to support a fluid-carrying conduit of the irrigation system. The first and second spindles each include a generally upright beam. The first height adjustment assembly is rigidly connected to a first side of the frame and movably coupled to the first spindle. The first height adjustment assembly includes a first mechanism configured to raise or lower the first side of the frame relative to the first spindle. The second height adjustment assembly is rigidly connected to a second side of the frame and movably coupled to the second spindle. The second height adjustment assembly includes a second mechanism configured to raise or lower the second side of the frame relative to the second spindle.

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.

In one example, a continuous track transport system for an irrigation system is provided that includes a continuous track with multiple track plates arranged so that adjacent plates are directly connected to each other, and also includes a gear train connected with the continuous track and operable to transmit an input torque to the continuous track to effect movement of the continuous track. The gear train includes a drive gear having an interface that is connectible to a gearbox of an irrigation system chassis, first and second driven sprocket-gears engaged with the continuous track, each of first and second driven sprocket-gears including a respective driven gear engaged with the drive gear, and a frame to which one or more gears of the gear train are rotatably mounted. Any one or more of the drive gear, sprocket-gear, and frame may comprise, or consist of, molded, glass-filled nylon.

A wheel having a circular ring is provided. The circular ring has a rotational axis and an outer surface. A plurality of lugs is mounted in side-by-side positions on said outer surface of the circular ring. Each lug of the plurality of lugs has: a center rib, a first leg and a second leg, each leg extending from the center rib laterally and opposite of each other, and a lug plate adapted to connect the first leg to the center rib. The outermost point of each center rib may form a circular pattern that is coaxial with the rotational axis. The wheel may have a rim nested within said circular ring, said rim having a plurality of alternating scalloped protrusions, wherein said rim is configured to provide suitable clearance for tools during lug installation and removal while increasing the load capacity of said wheel.

A system for determining agricultural vehicle guidance quality includes an imaging device configured to capture image data depicting a plurality of crops rows present within a field as an agricultural vehicle travels across the field. Additionally, the system includes a controller communicatively coupled to the imaging device. As such, the controller configured to determine a guidance line for guiding the agricultural vehicle relative to the plurality of crop rows based on the captured image data. Furthermore, the controller is configured to determine a crop row boundary consistency parameter associated with one or more crop rows of the plurality of crop row present within a region of interest of the captured image data. Moreover, the controller is configured to determine a quality metric for the guidance line based on the crop row boundary consistency parameter.

A wheel having a hub and a circular ring is provided. The circular ring has a central axis, an outer surface having a first outer edge and a second outer edge, and a plurality of holes disposed on the outer surface. Additionally, the wheel has a plurality of spokes each being adapted to attach to both the hub and the circular ring, and each of the plurality of spokes being concaved and arranged in an alternating pattern. A plurality of lugs is disposed on the outer surface of the circular ring, and each of plurality of lugs has a first leg and a second leg, each extending from a center rib and a lug plate adapted to connect the first leg to the center rib.

By using various feedback data on a sprayer system, such as engine speed, wheel speed, sensed temperatures and/or sensed pressures, an onboard logic controller can be used to fine tune parameters of the driveline system in an automatic calibration process. In one aspect, a controller can drive up engine speed and manipulate electrical current being sent to coils of propel pumps and/or wheel motors as current reaches a point where there is no more change in wheel speed as detected by the system, thereby achieving a. calibration setpoint. Additionally, during the automatic calibration process, the machine as a whole can be monitored with respect to several sensors, such as pressures, temperatures, and the like, so that if any parameter being monitored is out of a predetermined range, the calibration can be stopped and not set.

A wheel having a plurality of lugs mounted in side-by-side positions forms a circular ring where each of the lugs has laterally extending legs forming a V-shape aligned with a rotational axis of the wheel. The lugs may have an outfacing rib aligned with the rotational axis and a further outfacing rib orthogonal to the rotational axis. A circular tensioning cord or strip may join the plurality of lugs. The lugs may be mutually offset around the circular ring in a sinusoidal pattern.