Abstract: A farming system includes a field engagement unit. The field engagement unit includes a support assembly. The support assembly includes one or more work tool rail assemblies. The field engagement unit additionally includes one or more propulsion units which provide omnidirectional control of the field engagement unit. The field engagement unit additionally includes one or more work tool assemblies. The one or more work tool assemblies are actuatable along the one or more work tool rail assemblies. The farming system additionally includes a local controller. The local controller includes one or more processors configured to execute a set of program instructions stored in memory. The program instructions are configured to cause the one or more processors to control one or more components of the field engagement unit.

Abstract: A tool bar apparatus has an elongate tool bar having a longitudinal tool bar axis, and ground engaging tools fixed thereto. Wheels are rotatably fixed to the tool bar and roll about a rotational axis parallel to the tool bar. A hitch frame is pivotally attached at a rear end thereof to the tool bar about a hitch pivot axis parallel to the tool bar axis, and has a hitch tongue at a front end thereof. An actuator pivots the tool bar about the hitch pivot axis from an operating position, where the ground engaging tools extend rearward, to a transport position where the ground engaging tools extend upward from the tool bar. The wheels move rearward under the tool bar when the tool bar pivots from the operating position to the transport position such that a downward force is exerted on the hitch tongue when in the transport position.

Abstract: An implement-mounting linkage mechanism for pivotally connecting a frame to a wheeled implement is disclosed. The mechanism is preferably used for pivotally connecting a wheeled load-bearing frame to the backside of a wheeled farm implement. The frame includes wheels adjustable relative to the frame for raising and lowering the frame relative to the ground. The frame preferably includes a plurality of soil-engaging ground-tool implements mounted thereon. The mounting-linkage mechanism of the present invention incorporates a novel non-parallel four-point design which virtually eliminates negative hitch weight when the frame is raised above the ground, in the static case. On the other hand, the novel design results in a net downward force being imposed upon the ground-tool implements when the frame is lowered for soil engagement, in the dynamic case.

Abstract: A ground working implement is disclosed, having a multiplicity of ground working tools mounted on a set of rigid bars which are maintained in substantially parallel relative position by pairs of rigid links flexibly fastened to the pairs of the rigid bars, with hydraulic cylinders attached diagonally between rigid links to control the elevation above ground of the rigid bars which are supported on normally parallel wheel axles mounted below and in front of the individual rigid bars. Operation of the hydraulic cylinders enables variation in the ground penetration of tools mounted on and beneath the rigid bars as the implement is drawn over the ground.