Patent Publication Number: US-2022232759-A1

Title: Crop input application systems, methods, and apparatus

Description:
BACKGROUND 
     Applicators such as irrigation systems, sprayers, side-dress bars, etc., are used to apply one or more crop inputs; some embodiments are used to apply one or more crop inputs to a standing crop. 
     SUMMARY 
     In one embodiment, a crop input application system is disclosed. The crop input application system includes an irrigation vehicle with a transversely extending boom, a plurality of wheel assemblies and a plurality of applicators. The plurality of wheel assemblies at least partially support the boom. A supply vehicle is configured to be connected to the irrigation vehicle such that the supply vehicle and irrigation vehicle move together in tandem. 
     In another embodiment, a reel is supported at a height above a soil surface and defines a rotational axis extending in a direction transverse to the crop rows. The reel is positioned between first and second adjacently spaced crop rows and further defines a width along the rotational axis less than a distance between said first and second adjacent crop rows. 
     In another embodiment, a method of applying crop input is disclosed. In one step, a crop applicator includes a reel and traverses a field portion with the reel positioned between adjacent crop rows. 
     The scope of the present disclosure is defined solely by the appended claims and is not affected by the statements within this summary. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic side view of one example of a crop input applicator vehicle. 
         FIG. 2  is a schematic rear view of the crop input applicator vehicle of  FIG. 1 . 
         FIG. 3  is a schematic view of a supply vehicle. 
         FIG. 4  is a schematic view of a supply vehicle connected with a crop input applicator vehicle. 
         FIG. 5  is a schematic side view of an alternative supply vehicle. 
         FIG. 6  is a schematic side view of an alternative supply vehicle. 
         FIG. 7  is a schematic rear view of an alternative crop input applicator vehicle. 
         FIG. 8  is a schematic side view of the crop input applicator vehicle of  FIG. 7 . 
         FIG. 9  is a schematic side view of an alternative crop input applicator vehicle. 
         FIG. 10  is a schematic front view of a portion of the alternative crop input applicator vehicle of  FIG. 9 . 
         FIG. 11A  is a schematic block diagram of a control assembly. 
         FIG. 11B  is a schematic side view of a reel and a drive member. 
         FIG. 11C  is a schematic side view of a reel drive assembly. 
         FIG. 11D  is a schematic top view of the reel drive assembly of  FIG. 11C . 
         FIGS. 12-14  are schematic top views of different wheel arrangements for a crop input applicator vehicle. 
         FIG. 15  is a schematic view of an operator station. 
         FIG. 16  is a schematic side view of connection between a power cord and a conduit. 
         FIGS. 17-19  are schematic sectional views of a power cord positioned with respect to a conduit. 
         FIG. 20  is a schematic side view of a stationary supply reel positioned within a field. 
         FIG. 21  is a schematic side view of a supply line positioned below ground and having a plurality of hydrants. 
         FIG. 22  is a schematic side view of a supply line positioned above ground and having a plurality of hydrants. 
         FIG. 23  is a schematic side view of a supply line positioned above ground and having a plurality of hydrants and a plurality of reinforcement members coupled with the supply line. 
         FIG. 24  is a schematic side view of a docking station for a vehicle to connect to a hydrant. 
         FIG. 25  is a schematic top view of the docking station of  FIG. 24 . 
         FIG. 26  is a schematic view of a first hydrant. 
         FIG. 27  is a schematic view of a second hydrant. 
         FIG. 28  is a schematic view of a field having a pivot irrigation system. 
         FIG. 29  is a schematic view of a field having a pivot irrigation system and a plurality of crop input applicator vehicles. 
         FIG. 30  is a schematic side view of a pivot irrigation system and a crop input applicator vehicle. 
         FIG. 31  is a schematic side view of a crop input applicator vehicle fluidly coupled with an end of a pivot irrigation system. 
         FIG. 32  is a schematic side view of a crop input applicator vehicle fluidly coupled with an end of a pivot irrigation system through a conduit supported by a reel of the pivot irrigation system. 
         FIG. 33  is a schematic side view of an alternative crop input applicator vehicle having longitudinal conduit sections. 
         FIG. 34  is a schematic view of a connection zone for the crop input applicator vehicle of  FIG. 33 . 
         FIG. 35  is a schematic view of a primary connector for the crop input applicator vehicle of  FIG. 33 . 
         FIG. 36  is a schematic view of a field with a crop input applicator vehicle and a supply vehicle. 
         FIG. 37-39  are schematic view of operation of a crop input applicator vehicle. 
         FIG. 40  is a schematic view of a field showing primary and secondary vehicle lines. 
     
    
    
     DESCRIPTION 
     It will be appreciated that different embodiments employing one or more features of crop input applicator vehicles are described herein. Features discussed with respect to one embodiment can be applied to other embodiments as desired. Referring now to the drawing figures wherein like reference numerals designate the same or corresponding components throughout the several figures,  FIG. 1  illustrates one embodiment of a crop input applicator vehicle  100 . The vehicle  100  includes a frame  110  supported on one or more wheel assemblies  112  that are steerable with respect to the frame  110  to navigate the vehicle  100  through a field of crops (e.g., a row crop). Wheel assemblies  112  can be coupled to frame  110  through bearings  114  that allow rotation of the wheels  112  with respect to the frame  110  to enable vehicle  100  to change direction and propel throughout the field. For example, one or more support legs  116  is/are optionally supported on a wheel assembly  112 . Each wheel assembly  112  is optionally pivotally coupled to a respective support leg  116 , e.g., for pivoting about a vertical axis through bearing  114 . In some embodiments, an actuator is configured to steer the wheel assembly  112 , e.g., to pivot a wheel portion relative to the support leg  116 . In some embodiments, the wheel assembly  112  is driven for rotation by a motor  960  such as an electric motor, which motor may be operably coupled to the wheel assemblies  112 . 
     Extending from a rearward portion of the frame  110  is a boom  120  mounted on an adjustable linkage  122 . In one embodiment, the adjustable linkage  122  is operable to adjust a height of the boom  120  relative to ground while the vehicle  100  travels through the field of crops. According to various embodiments, the boom  120  can be of any number of different lengths and of any number of different configurations. For example, common boom  120  lengths include 60 feet, 90 feet, and 100 feet. Any other boom  120  length could be employed, as well, in accordance with different embodiments. The boom  120  is attached to the frame  110  using any number of attachment technologies including, for example, a z-bracket mechanism. In different embodiments, the boom  120  can be attached in front of frame  110  or behind the frame  110 . When using adjustable linkage  122 , the ability to raise the boom  110  to a height that is high enough to allow the vehicle  100  to turn on the end of a field in a standing crop without injuring the standing crop. In other embodiments, portions of the boom  120  can be folded upwardly, and out of the way of the standing crops. 
     In some embodiments and with further reference to  FIG. 2 , the vehicle  100  may include one drop assembly  150  optionally positioned for every crop row C (e.g., every 30 inches in 30 inch rows). In some embodiments, the total number of drop assemblies  150  is between 40 and 100. In some embodiments, a 120-foot applicator  100  has forty-eight drop assemblies  150  or approximately forty-eight drop assemblies  150 . In some embodiments, a 240-foot applicator has ninety-six drop assemblies  150  or approximately ninety-six drop assemblies  150 . In addition to drop assemblies  150 , vehicle  100  may support one or more water guns  154  fluidly coupled to the conduit  130  and positioned to supply water and/or nutrients away from the vehicle  100  to areas not directly accessible to the drop assemblies  150 . 
     The boom  120  optionally supports a conduit  130  extending generally transversely across the vehicle  100 . The boom  120  further supports a plurality of applicators which may comprise transversely spaced drop assemblies  150  fluidly coupled with one or more outlets  152  (e.g., dribble hoses). Each drop assembly  150  optionally includes a conduit (e.g., flexible conduit) in fluid communication with the conduit  130  and in fluid communication with the outlet  152 . In some embodiments, the outlet  152  is relatively restrictive (e.g., more restrictive than one or more outlets provided in the conduit  130 ). One or more pumps and/or valves of the vehicle  100  optionally control the flow rate of fluid (e.g., water) exiting a single outlet  152  and/or a plurality of outlets  152 . One or more flow sensors of the vehicle  100  optionally measure the flow rate of fluid (e.g., water) exiting a single outlet  152  and/or a plurality of outlets  152 . In some embodiments, one or more of the drop assemblies  150  include common structure and/or features with one or more embodiments disclosed in U.S. Pat. No. 9,167,745, hereby incorporated by reference herein in its entirety. The outlets  152  optionally comprise outlets of flexible conduits supported on the drop assembly  150 . 
     In one embodiment, the outlets  152  are dribble hoses mounted to a respective drop assembly and biased outward to apply liquid (e.g., water, nutrients mixed with water) at the base of a row of crops. The conduit  130  is fluidly connected with a fluid inlet  140 , which is connectable to a water source (e.g., well head, reservoir). Optionally, in one embodiment, vehicle frame  110  carries a secondary crop input container  142  and an injection pump  144  to supply nutrients or other products into conduit  130  along with water from inlet  140 . The tank  142  may be fluidly coupled to the boom  120  or to one or more separate outlets for applying a secondary crop input (e.g., fertilizer, insecticide, herbicide, biological, etc.) to a field. The pump  144  may be associated with the secondary crop input container  142  and used to move secondary crop input to control the flow rate of the secondary input. 
     A power unit  146  and master controller  148  can be carried by frame  110  to provide power to one or more power-consuming devices (e.g., motors, pumps, processors) of vehicle  100 . In one embodiment, the power unit  146  is a diesel generator. In other embodiments, the power unit is another power source. Master controller  148  is connected to various components on vehicle  100  to provide control of the vehicle (e.g., application of liquid through drop assemblies  150 , navigation of vehicle  100 ). 
     For example, master controller  148  can be operatively coupled with various sensors and controls to operate vehicle  100 . In one embodiment, a steering sensor  160  measures a position of the vehicle  100  in the crop row and calculates a cross track error which is then corrected by a steering algorithm in the master controller  148 . In addition, in some embodiments, one or more crop sensors  161  are coupled to the frame  120 , e.g., to a generally lower end of the frame or in other positions as desired. In addition to crop sensors  161  as illustrated, other crop sensors may be coupled to various positions on the vehicle  100 , for example any number of the drop assemblies  150  including none of the drop assemblies  150 , all of the drop assemblies  150 , and anywhere between none and all of the drop assemblies  150 . Crop sensors  161  may include cameras, Normalized Difference Vegetation Index (NDVI) sensors, radar, LIDAR, thermal sensors, ultrasonic sensors, infrared sensors, or other sensing technologies and are used to measures crop health. In one embodiment, a sensor is used to detect wilting of the crop or rolling of the leaves to increase the water applied to those plants. In addition to crop sensors  161 , vehicle  100  can include one or more soil sensors  162  that probe the soil to collect samples to measure the current water supply, total water holding capacity of the soil and/or other characteristics of the soil as desired. 
     In some embodiments, one or more sensors  160 - 162  are optionally configured to measure one or more soil-related criteria (e.g., soil moisture, soil temperature, soil reflectivity, soil color, soil electrical conductivity, soil organic matter, soil cation exchange capacity, etc.). In some embodiments, one or more sensors  160 - 162  comprise a remote sensor that does not contact the soil but is optionally oriented toward the soil. In some embodiments, one or more sensors  160 - 162  comprise a contact sensor that engages the surface and/or subsurface of the soil. 
     In some embodiments, one or more sensors  160 - 162  are optionally configured to measure one or more crop-related criteria (e.g., crop color, crop reflectivity, stalk diameter, crop presence, crop population, crop spacing, crop uniformity, etc.). In some embodiments, one or more sensors  160 - 162  comprise a remote sensor that does not contact the crop but is optionally oriented toward the crop (e.g., transverse to a travel direction of vehicle  100 ). In some embodiments, one or more sensors  160 - 162  comprise a contact sensor that contacts the crop (e.g., a stem, leaf, etc.) Data from all of the sensors  160 - 162  can be stored by the master controller  146  and sent through a data connection to a cloud server for analysis and storage. 
     Boom  120  can also support a weed drop assembly  170 , which is connected with a linear track or rail  172  on the boom  120 . Weed drop assembly  170  is configured to remove weeds from the field. In one embodiment, weed drop assembly is supported on (e.g., mounted to) the boom  120  through a driven head  174  on a linear track  172  supported by the boom  120  to position the weed drop assembly  170  laterally along the width of the boom  120  to align with weeds. 
     As illustrated in  FIG. 2 , a rotating head  176  may be mounted to the bottom of the weed drop assembly  170  and positioned to engage the ground during operation of the vehicle  100 . The head  176  may be driven from a drive wheel connected to the weed drop assembly  170  and positioned on the ground and powered by the movement of the vehicle  100  or it may be driven by an electric motor or other rotation actuator provided by the vehicle  100 . A weed implement  178  can be mounted to the head  176  and configured to remove weeds from the field. In one embodiment, implement  178  can include fingers, blades, plastic or metal wire, lasers, hot air guns, electric shock probes, or other soil or weeding features. In an alternative embodiment, weed drop assembly  170  can include a stationary head equipped with a blade and weeding occur by positioning the drop assembly  170  laterally along the boom  120  (via rail  172 ) to pass through a weed as the vehicle  100  moves forward. 
     Weed drop assembly  170  may further include one or more sensors (e.g., sensor  180 ) detect the presence of crop plants and weeds during operation of vehicle  100  and control the position of the weed drop assembly  170  or rotating head  176  to remove weeds while avoiding healthy crops. An operator of vehicle  100  may be enabled to designate weaker crop plants to be removed. For example, weaker plants are sometimes called late emergers. Master controller  148  may utilize data from sensors  160 - 162  and sensor  180  to compare size, biomass, stalk diameter or other features of the crops detected by the sensors during operation of the vehicle  100 . Crop plants that differ from the average by an amount larger than a threshold set by an operator may be considered weeds and removed by the control system with the weed drop assembly  170 . Plants may also be considered for removal if they fail to grow at an average rate as calculated by the master controller  148  as the change in size, biomass, stalk diameter, or other features of plants from a historical measurement taken during a previous application pass and the current measurement. 
     As illustrated in  FIG. 3 , a supply vehicle  200  can be used with vehicle  100  to provide water to fluid inlet  140 . Vehicle  200  includes a frame  202  supporting a reel  204  carrying a flexible conduit  206  (e.g., a hose) for rotation about an axis Ra. Liquid is supplied to the flexible conduit  206  through a drag hose  208 . Steerable wheels  210  are used to allow the supply vehicle  200  to be moved in any direction. A power source  212  may be a diesel generator or a battery that is charged by the irrigation vehicle  100  when it is connected to the supply vehicle  200 . Vehicle latch points  220  are used to the connect the irrigation vehicle  100  to the supply vehicle  200  to move it to a new position in the field. In another embodiment, the supply vehicle  200  is self-driven and moves to a desired position in the field in conjunction with the irrigation vehicle  100  to maintain the safety of the hose and to align itself to dispense hose to the irrigation vehicle as it travels through a pass. A pressure booster pump (not shown) may be used on the supply vehicle  200  and powered by the power source  212  to boost the pressure of the liquid and allow for more flow to be produced over a longer distance. 
     In some embodiments, the reel  204  may be self-winding (e.g., torsionally spring-biased) and/or feature one or more winding mechanism and/or a shuttle or other mechanism for guiding the conduit  206  into position. The conduit  206  optionally has an outlet end  222  in fluid communication with fluid inlet  140  on vehicle  100 . The conduit  132  optionally has an inlet end which may be displaced to a location remote from the vehicle  200  (e.g., by unwinding reel  204 ) and which is optionally configured to be in fluid communication with a primary crop input source (e.g., water source such as a wellhead outlet or other outlet). 
     In various embodiments, the device or devices used to store conduit  206  may take on various forms. For example, a plurality of reels may be disposed along a width of vehicle  200  and may be fluidly coupled (e.g., selectively fluidly coupled) to one another. The conduit  206  optionally at least partially comprises hard (e.g., non-flattening) flexible tubing. Also or alternatively, the conduit  206  optionally at least partially comprises flat tubing which may become generally flat when the tubing is not filled with water and expand when the tubing is filled with water. In some embodiments, during operation the conduit  206  includes a filled portion supported on the vehicle  200  and a non-filled (e.g., empty) portion supported on the vehicle  200 . 
     As illustrated in  FIG. 4 , supply vehicle  200  can be nested within and connected to irrigation vehicle  100 . Latch points  220  of supply vehicle  200  can be connected with corresponding latch points  190  on irrigation vehicle  100 . Once supply vehicle  200  is connected to irrigation vehicle  100 , irrigation vehicle  100  can then be navigated to a desired location. For example, in one embodiment, the connected irrigation vehicle  100  and supply vehicle  200  travel to a first row of crops. After reaching the first row of crops, the irrigation vehicle  100  is disconnected from the supply vehicle  200  and proceeds to traverse between a first and second row of adjacent crops, providing irrigation to proximate rows and dispensing the irrigation hose between the first and second rows. After reaching the end of the field, the irrigation vehicle  100  can reverse and return to the supply vehicle  200 . Upon return to the supply vehicle  200 , the irrigation vehicle  100  and supply vehicle  200  can be connected and subsequently move to between a third and fourth row of crops. 
     In another embodiment of a supply vehicle  200 ′ illustrated in  FIG. 5 , a supply reel  250  rotationally supports a supply conduit or hose  252  for rotation about a rotational axis Rb. Supply conduit  252  is fluidly coupled with conduit  206 , which delivers fluid to outlet  222 . In one embodiment, conduit  252  has a different diameter than conduit  206 . In one example, supply reel conduit  252  has a larger diameter, reducing pressure drop from the water source to conduit  206 . When irrigation vehicle  100  and supply vehicle  200 ′ are connected and moving in tandem to a desired row for irrigation, the supply reel  250  is rotated to either extend or retract the supply hose  252  at a speed matching the speed of the tandem. The supply conduit  252  may be rotatably attached to the water supply to follow the supply vehicle  200 ′ as it is moved from one half of the field to the other. In a further embodiment of the supply vehicle  200 ′ as discussed below, the reel  202  is carried on the irrigation vehicle  100  and connected to the supply conduit  252  which is carried on the supply vehicle  200 ′. 
     In yet another embodiment of a supply vehicle  200 ″ illustrated in  FIG. 6 , a reel  260  rotationally supports a hose  262  about a rotational axis Rc that extends in a direction of travel T for the vehicle  200 ″. 
     Another embodiment of a crop input applicator vehicle  400  is illustrated in  FIGS. 7 and 8 , wherein a reel  402  is rotationally supported on a central shaft  404 . Vehicle  400  can include any of the features discussed above with respect to vehicle  100  and used in conjunction with supply vehicle  200  or another liquid supply source as desired. Shaft  404  connects with a vehicle frame  406 , which includes spaced apart supports  408   a  and  408   b . In one embodiment, shaft  404  is supported on frame  406  through bearings  410   a  and  410   b , respectively. Bearings  410   a ,  410   b  can take many forms, such as pillow block bearings, slewing bearings or others. Shaft  404  can be supported at a height taller than crops C positioned within a field. Additionally, vehicle frame  406  can be alternatively or additionally mounted on an adjustable carriage to allow its height to be raised and lowered for different height crops. Frame  406  is supported on a plurality of wheel assemblies  412 , which can be driven and/or steered to move vehicle  400  as desired. While reel  402  is illustrated as rotating about shaft  404  that is orthogonal to a direction of travel for vehicle  400 , shaft  404  can be positioned to be parallel with a direction of travel for vehicle  400 . Additionally, a direction of wheel assemblies  412  can change to orient the direction of shaft  400  to be parallel to, orthogonal to or oblique to a direction of travel for the vehicle  400 . 
     As shown in  FIG. 7 , the reel  402  can be positioned in a field to rotate between rows of crops R 1  and R 2 . Although illustrated as centrally positioned between supports  408   a  and  408   b , reel  402  may also be mounted off center between supports  408   a  and  408   b . A width W 1  of the reel may be equal to or less than a spacing width W 2  between the rows R 1  and R 2  of crop. In one embodiment, width W 2  is approximately 30 inches, wherein width W 1  is less than 30 inches (e.g., 29 inches, less than 29 inches, between 29 and 25 inches, 25 inches, less than 25 inches). A position of reel  402  with respect to supports  408   a  and  408   b  can further be selected to position wheel assemblies  412  between rows of crops. For example, support  408   a  is positioned between rows R 1  and R 3 , whereas support  408   b  is positioned between rows R 2  and R 4 . 
     A flexible conduit (e.g., a hose)  420  carried by the reel  402  is optionally connected to a liquid source through an inlet  422 . Water may be supplied to the conduit  420 . Additionally, fertilizers and/or chemicals may be supplied. At times, fertilizer is optionally injected into the water flow to provide a controlled mixture of fertilizer and water to a field of plants. Water may be sourced from a ground water well, or pressurized by a pump sourcing water from a stream or river, a standing body of water, or a tank. Manure may also be supplied through the conduit  420  to be applied to the field or mixed at a controlled rate into a flow of another liquid passing through the conduit  420 . 
     In a further embodiment, side shields  430  can be mounted to vehicle frame  406  and positioned along sides of the reel  402  to protect crops as vehicle  400  passes through the crops. In one embodiment, a front and/or rear ends of the shields can be tapered to engage crop and gently push crop to the side. In a further embodiment illustrated in  FIG. 8 , a belly shield  450  can be positioned under reel  402  to gently bend crop downward such that the crop is prevented from being damaged as the crop passes under reel  402 . To accommodate conduit  420 , shield  450  can include a slot or hole therein to allow the conduit  420  to pass through the shield  450  to the ground. 
     As illustrated in  FIG. 9 , vehicle  400  can have various features similar to vehicle  100  as well as other features as desired. For example, vehicle  400  includes a boom  500  supported by an adjustable linkage  502 . The boom  500  supports one or more drop assemblies  504  fluidly coupled to a conduit  506 , which in turn is fluidly coupled with conduit  420 . Vehicle  400  can be powered in various ways, for example by a generator  510  supported on the frame  406 . Vehicle  400  may also be powered by other sources such as solar cells or batteries that are replaced when empty or charged when the vehicle  400  docks in a charging station. 
     In another embodiment, the vehicle  400  is powered through a wire. In this embodiment, vehicle  400  can support a power cord reel  520  that carries a power cord  522  connected to a remote power source. In one embodiment, power cord  522  can include one or more wires for example three wires to provide three phase power. The wires may be bonded together in one cord or remain independent. The power cord  522  can be stored on power cord reel  520  and dispensed at a speed matching a ground speed of the vehicle  400 . Power cord reel  520  can be equipped with a controller  524  that controls dispensing and retracting power cord  522  relative to reel  520 . In an alternative embodiment, vehicle  400  is powered with single phase power. 
     With reference to  FIG. 16 , in one embodiment, power cord  522  is routed inside or directly connected with the conduit  420  and passes out each end of the conduit  420 . As illustrated in  FIG. 16 , at one end  522 A, the power cord  522  provides power to the vehicle  400  and at the opposite end  522 B the power cord is connected to a power source. T-fittings  580  may be used at each end of the hose to provide a sealed point for the cord  522  to enter and exit while liquid passes straight through the T-fittings  580  within conduit  420 . As illustrated in  FIGS. 17-19 , the power cord  522  can freely float in liquid as it passes through the conduit  420  ( FIG. 17 ) or the cord  522  may be molded or bonded to an internal surface  582  ( FIG. 18 ) or to an external surface  584  ( FIG. 19 ) of a wall  586  of the conduit  420 . 
     Vehicle  400  can further support a controller  540  to operate vehicle  400 , apply liquid through drop assemblies  504  and monitor crop, soil and other environmental conditions. To that end, vehicle  400  includes various sensors, such as sensors  550  and  551 . As illustrated, sensor  550  includes a ground penetrating member such as a rolling disk, whereas sensor  551  includes a sliding blade which may be mounted to the vehicle  400  through a stationary or pivotable mount and penetrate the soil while taking measurements as the vehicle  400  moves. In one example, a capacitive sensor or other moisture sensor may be used as the environmental sensor  550  to measure the moisture of the soil. Multiple sensors may be mounted on the ground penetrating member at different positions to collect data from different depths in the soil. The rate of water, fertilizer or chemical applied by the vehicle  400  may be adjusted based on the detected measurement(s) relative to a target set by the operator. 
     In the illustrated embodiment, sensor  550  is positioned to detect soil moisture mounted in front of vehicle  400  and sensor  551  is mounted behind drop assembly  504  on the vehicle  400 . In one example operation of vehicle  400 , the rate of liquid applied to a subsequent area of soil can be adjusted by controller  540  based on the dryness of that soil detected by sensor  550  and the wetness of the soil detected by sensor  551  after the drop assembly has applied a known amount of water to the previous area. For example, the sensor  550  may detect that the area in front of the vehicle  400  is dryer than a previous area that took a certain amount to be detected as full by the sensor  551 . Controller  540  can accordingly adjust the target rate of liquid application as it enters the new area to apply a larger amount of water or actively adjust until the sensor  551  reports that the soil is full of liquid (or above a particular threshold). Other sensors may be spaced at different locations along boom  500  and the control system may adjust a common rate along the boom to best apply liquid to match the variation in soil detected by the sensors  550  and  551 , or to fill the driest soil detected to a desired level, or to an operator target, or to not overfill any particular soil under the boom  500  by limiting application to an operator target. Controller  540  can store historical data collected by sensors  550  and  551  from previous passes through the field in memory or in a data cloud accessed through a wireless connection. 
     As the vehicle  400  applies a liquid to a crop area, the controller  540  can compare current measurements taken by sensors  550  and  551  with historical data collected by those same sensors and adjust a rate of liquid applied by drop assemblies  504  until a result is achieved equal to past applications. For example, controller  540  can determine based on a moisture sensor measurement that an area of soil is 10 percent full compared to a historical measurement for that soil prior to a previous application and a historical record of how much applied water it took to fill the soil in that area to one hundred percent full or to an operator threshold fullness target. 
     In addition to sensors  550  and  551 , controller  540  can collect data from stationary sensors  570  positioned in a field such as moisture probes, nutrient probes, rain gauges, weather stations, crop sensors, cameras, or other relevant sensors by positioning the vehicle  400  within a necessary distance to wirelessly connect to the sensor through a communication method such as Bluetooth. Data may be transferred while the vehicle  400  is parked or while it passes over or near the sensor  570  at a rate of speed necessary to allow sufficient time for data transfer to be completed. Data could also be transferred to the vehicle through docking to a data connection positioned on the stationary sensor  570  in a location accessible to the vehicle. Data collected by sensors  570  in the field or on the vehicle  400  (e.g., sensors  550  and  551 ) can be transferred to a storage location such as a data cloud through a wireless method or by docking with a data transfer station in the field. The data transfer station can be connected through a wire to an internet source or through a higher speed transfer method than available on the vehicle  400 . 
     As will be discussed in more detail below, using controller  540 , an operator positioned remote from vehicle  400  can be enabled to view, download, or interact with the data through an operator station and make application decisions to change the rate or create a new prescription plan for the current or a future application pass that is transferred back to the vehicle  400 . The operator may also be enabled to select a location in the field to park vehicle  400  between passes or the controller  540  can recommend a location to the operator or decide on a location based on sensor measurements from the last application pass or from historical passes. For example, the controller  540  can determine a soil area with low moisture capacity in the field by comparing historical measurements collected in that area during previous application passes to other areas in the field. When vehicle  400  is parked, the mobile soil sensors may continue to collect data over time and report that data to the controller  140 . As the crop uses an input such as water, sensors will report a reduced amount of that input that is still available in the soil. Natural events like rainfall or application by the vehicle  400  will raise the quantity of that input for that location. As the crop uses the input, the controller  540  may alert the operator when levels fall below a threshold as determined by the operator or by the controller  540  based on historical data collected from sensors detecting a decrease of crop health as the level of measured input has fallen below the threshold in that area. The controller  540  can detect the location of plants using plant sensors such as cameras, ultrasonic distance sensors, radar, contact feelers, or other plant sensors. The controller  540  can adjust the final parked position of the vehicle  400  to align its sensors in a row of plants, in the middle of a pair of rows or in a target location relative to the plants as set by the operator. 
     Sensors  550 - 551  mounted to the vehicle  400  can further detect the need for water, fertilizer, or an agricultural chemical where the vehicle is located and send measurements to the controller  540  which optionally actively adjusts a rate of liquid applied until the sensors  550 - 551  report the need is satisfied. In one embodiment, sensors  550 - 551  include thermal sensors or thermal cameras to detect an original temperature of the soil and the presence of water being applied to actively adjust the rate of liquid applied. The liquid dispensed from assembly  504  is optionally at a different temperature than the soil surface. As liquid is applied in a stream at the base of rows of plants, the camera or sensor  550 - 551  detects change in temperature between dry soil and wet soil, which directly shows where liquid has been applied. The liquid will infiltrate down into the soil before spreading out to a center of the row. By detecting spreading liquid as a changing temperature at the soil surface, the thermal camera or sensor provides an indicator that the soil is sufficiently full when water has reached the center of the row and started to cool that soil. An operator is optionally enabled to choose to limit the application of liquid to only cover a percentage of the area between rows. The controller  540  optionally waits for an indication from the thermal sensor or camera that the liquid has reached the operator threshold and moves the vehicle  400  to the next area. 
     In addition to features identified above, vehicle  400  can include a conduit control assembly  600  configured with one or more features to control dispensing and retraction of conduit  420  with respect to reel  402 . In one embodiment, the control assembly  600  can include a moving carriage or traverser  602  that engages conduit  420  as the conduit  420  is dispensed or retracted with respect to reel  402 . As illustrated in  FIG. 10 , the moving carriage  602  is optionally moved along a linear track  604  to position the conduit  602  as it enters or leaves the reel so that each wrap of the conduit  420  on the reel  402  is held tightly next to the previous wrap. The vehicle  400  optionally dispenses the conduit  420  at a rate selected to match the ground speed of the vehicle  400 . 
     Additionally, control assembly  600  can maintain a controlled amount of tension or sag in the conduit  420  as described in further detail herein. With additional reference to  FIG. 11A , control assembly  600  includes a controller  620 , a reel drive  622 , a reel speed sensor  624 , a conduit sensor  626 , a vehicle speed sensor  628  and a global positioning system (GPS)  630 . Reel drive  622  can be any type of drive mechanism to control rotation of reel  402  such as an electric motor or other rotational actuator such as a driven slewing bearing. Reel speed sensor  624  is optionally in communication with the controller  620  and optionally detects the speed that the reel  402  is rotated. Conduit sensor  626  is further in communication with the controller. In particular, the conduit sensor  626  is configured to detect tension in the hose created by the speed of the vehicle as sensed by vehicle speed sensor  628  relative to the dispensing rate of the conduit  420  by the reel  402  or the sag in the conduit  420  from a desired hose position as the tension varies. 
     As illustrated, the conduit sensor  626  may comprise at least one rotating arm  650  (or opposed arms on opposite sides of reel  402 ) in physical contact with the conduit  420  (e.g., through track  604  or another element) with a rotation sensor connected to the arm  650  to detect a change in arm position relative to vehicle frame  406  as the conduit  420  rises when under greater tension and sinks as tension drops. In other embodiments, the carriage  602  can include a measurement zone and one or more beam sensors are positioned on opposing sides of the carriage  602  to detect the rise or fall of the conduit  420  with respect to the vehicle frame  406  as particular beams are broken. Other sensors may be used to measure the position of the conduit such as reflectance sensors or ultrasonic sensors. Conduit sensor  626  is optionally positioned in a location where changes in tension (or relative position of conduit  420  with respect to vehicle frame  406 ) result in a change of conduit position. In some embodiments, this location will be at, adjacent to or near the rear of the vehicle. The control assembly  600  may adjust reel speed based on a combination of one or more of vehicle speed, GPS position, reel speed, and conduit position. 
     In one example, the control assembly  600  will adjust the reel speed so that the conduit tension created by the relative speed between the reel  402  and vehicle  400  keeps the conduit  420  centered in a measurement range (or within a defined threshold) of the conduit sensor  626 . As the conduit sensor  626  detects that the conduit  420  is dropping in the measurement zone due to changes in vehicle speed or other causes, the control assembly  600  optionally rotates the reel  402  slower to increase tension in the conduit  420 . If the sensor  626  detects that the conduit  420  is rising to the top of the measurement zone, the control assembly  600  optionally increases reel speed to reduce tension so the conduit  420  sags and is re-centered in the measurement zone. The operator is optionally enabled to choose to set a custom position target through a user interface connected to the control assembly  600 . 
     As the vehicle  400  moves forward, the control assembly  600  operates to turn reel  402  at a rate so that the conduit  420  is dispensed at a speed equal to movement of the vehicle  400 . The conduit  420  passes through the carriage  602  selectively positioned to align the conduit  420  with the wrap that is either being dispensed or retracted by the reel  402 . The position of the carriage  602  may be controlled by a motor driven by a control system or may be driven by a chain connected to the drive system of the reel  402  and timed so that the position of the carriage  602  matches a particular wrap of conduit  420  on the reel  402  at the correct time. 
     The carriage  602  may further include conduit engaging features that include a conduit dispenser that tensions the conduit  420  as it is dispensed off the reel  402  and laid on the ground at a net zero speed relative to a speed of the vehicle  400 . In one embodiment, the dispenser includes one or more rubber wheels biased toward the conduit  420  and driven at a speed equal to the speed of the vehicle  400 . Without a dispenser, the conduit  420  may become slack on the reel  402  while the vehicle  400  turns around an arc and can no longer pull tension through the conduit  420  back to a location where the inlet of the conduit  420  is mounted or the vehicle  400  may pull conduit  420  across the ground after it completes the turn causing the conduit  420  to damage crop. By ensuring the conduit  420  leaves the vehicle  400  equal and opposite to the ground speed, the conduit position can be maintained on the ground and tension maintained on the conduit  420  still on the reel  402 . As conduit  420  is rewrapped on the reel  402  as the vehicle  400  reverses, the hose dispenser may be turned at a speed slightly less than the vehicle speed so some skidding occurs on the hose and tension is maintained. 
     As illustrated in  FIGS. 11B-D , the speed of the reel  420  may be controlled by measuring the torque required to turn the reel  420 , which is directly related to the tension created in the conduit  420  by the conduit dispenser on the carriage  602 . In the illustrated embodiment, a drive gear  670  is connected to a reel gear  672  through a drive chain  674 . The drive gear  670  is turned through a gearbox by a motor  676 . The motor, gearbox, and drive gear are mounted to slide on rods  678  and positioned to compress a spring  680  as the torque to turn the reel  402  increases. A chain tensioner  682  is mounted to keep the drive chain tight as the drive gear changes position on the rods  678 . In one embodiment, a position sensor can be mounted to measure the position of the drive gear on the rods and report a change in position to the controller  540 . The speed of the reel  402  is then adjusted by the controller  540  to maintain the position of the drive gear  670  at a target position. In operation, as more conduit  420  is needed to match the ground speed of the vehicle  400 , the conduit dispenser can pull harder on the conduit  420 , causing the drive gear  670  to be pulled closer to the reel gear  672  while compressing the spring  680 . The controller  540  will detect the change in position by the position sensor and increase the speed of the reel  402  providing more conduit  420  to the conduit dispenser and reducing the tension in the conduit  420 . The spring  680  will push the position of the drive gear  670  back to the target position as the needed reel speed is reached. 
     Vehicle  400  can be driven in various ways. As illustrated in  FIG. 12 , a first configuration  400 - 1  of vehicle  400  is supported by three wheels. Two wheels  701  and  702  can be positioned on opposite corners of a front of the vehicle  400  and a third wheel  703  cab be mounted on a centerline and positioned at a rear of the vehicle  400 . The configuration  400 - 1  of the wheels  701 - 703  may also be reversed with two wheels mounted at the rear and the single wheel at the front. In one embodiment, the wheels  701  and  702  are driven by electric motors or other rotation actuators and the third wheel  703  is not driven. In other embodiments, all three wheels  701 - 703  may be driven. The third wheel  703  may be mounted on a bearing or rotation shaft  704  that allows the third wheel to freely caster as the direction of the vehicle changes. The third wheel  703  may also be steered by an actuator to change direction of the vehicle  400 . Conduit  420  dispensed from reel  402  may either be dispensed between the two driven wheels  701  and  702  if the wheels are at the rear of the vehicle  400 . Alternatively, the conduit  420  can be dispensed over the top, beside, or near the single wheel  703  if wheel  703  is at the rear. The conduit  420  can further pass under the single wheel  703  in embodiments in which a wheel with a cupped shape is used that provides a tunnel for the conduit  420  to pass through. 
     In another configuration  400 - 2  illustrated in  FIG. 13 , the vehicle includes four wheels  711 - 714 . Wheels  711  and  712  are driven by a motor or other actuator, while wheels  713  and  714  are positioned to rotate about a bearing or rotation shaft  715  and  716 , respectively. In yet another configuration  400 - 3  as illustrated in  FIG. 14 , two left wheels  721  and  723  may be driven together and the two right wheels  722  and  724  may be driven together. The vehicle in this configuration  400 - 3  may be steered by changing the speed of one pair of wheels to allow the vehicle to skid steer in a new direction. In any of the configurations  400 - 1  to  400 - 3 , the wheels may be positioned on the vehicle at a spacing to pass down the center of rows of crops to minimize damage to the crops. 
     As illustrated in  FIG. 15 , an operator station  900  may be located at a farm management location, such as an operator&#39;s home, farm office, equipment storage shop or other location where the operator is running the farm. The operator station  900  is connected through a data connection  902  such as cellular or another wireless data transfer method to one or more vehicles  100 / 400  discussed herein within one or more fields. Operator station  900  can access one or more cameras, thermal sensors, thermal cameras, LIDAR, radar, capacitance sensors, resistance sensors, conductivity sensors, infrared sensors, light sensors, soil color sensors, organic matter sensors and other sensors mounted on the vehicle  100 / 400  or vehicles  100 / 400  positioned to collect data related to crop plants, weeds, soil, field environment, weather, current vehicle status and position, the future vehicle path, or other data relevant to the operator or control system. 
     The operator station  900  can include common features of a farm equipment cab including a seat  902  for the operator and operator controls including a steering wheel  904 , foot pedals, control buttons and switches, or joysticks  906  and a data display or displays  908  such as a smart phone, smart tablet, smart television, projector, virtual display headset, or other data projector. In other embodiments, the operator station  900  may be a web app, mobile app, or other user interface accessed through a smart phone, computer, smart television, touchscreen display, virtual display headset, or similar device. Data from environment sensors is displayed to the operator through the operator station  900  and in particular displays  908 . The data may be displayed real-time, near real-time, or as historical or time delayed data. The data may comprise a direct visual feed from a camera or a simulated visual representation created from combining thermal inputs, cameras, or other sensors. Data may also be displayed as numerical values or as a map of values displayed geographically. Based on the data displayed for a particular vehicle, the operator may be enabled to change machine settings, create a control path for a selected vehicle to drive, or take control of the selected vehicle and drive it to a new location. As a mobile vehicle has completed operations in a field, the operator may be enabled to take control to drive the vehicle on public roads to another field using the camera inputs and operator controls in the operator station. The operator may be shown a summary display of data from multiple vehicles. Indications (e.g., audio, visual) can be made to the operator that a selected vehicle needs attention. The operator may then be enabled to select a particular vehicle from the summary display to see data from that vehicle and then may further select a specific camera or sensor to see more detailed real-time or historical data. 
     Other ways to supply vehicles  100 / 400  can be utilized as described herein. In one embodiment illustrated in  FIG. 20 , a supply reel  1000  supporting a supply conduit  1002  is placed near a water source  1004 . The supply reel  1000  is mounted on a rotatable base  1006  such that the supply conduit  1002  is dispensed to a supply vehicle  200  or crop input applicator vehicle  100 / 400  in any direction. The supply reel  1000  is connected to the water source  1004  through a rotatable fluid connection  1008 . The supply conduit  1002  can be drug along the ground by a connected vehicle. In addition, an air supply  1010  may be used to purge the supply conduit  1002  of water prior to it being drug to a new location, which will reduce the weight of the supply conduit  1002  and lessen the necessary pulling force from the vehicle. 
     In a further embodiment illustrated in  FIG. 21 , hydrants  1100  may be used to provide water to a crop input applicator vehicle  100 / 400  or a supply vehicle  200 . In one embodiment, a supply line  1102  is buried below ground level and connected to a water source and the hydrants  1100 . In one embodiment, the supply line  1102  is made of polyvinyl chloride (PVC) or high-density polyethylene (HDPE). The spacing between hydrants  1100  may be equal the width of the boom on the vehicle, the width of the passes in the field, or other spacings based on the terrain of the field and the location of the water source. 
     In another embodiment illustrated in  FIG. 22 , a supply line  1150  having hydrants  1100  may be disposed above ground level. Supply line  1150  can be made of a wear resistant material such that a vehicle is able to drive over the supply line  1150  without damaging it. For example, the supply line  1150  can be a lay-flat hose and the vehicle may be in communication with the water supply to stop the water source from pressurizing the supply line when the vehicle is ready to cross. As the pressure stops, the supply line  1150  will deflate and allow the vehicle to cross it without damage. The vehicle then alerts the water source to pressurize the supply line  1150  allowing it to continue irrigating. 
     In yet another embodiment illustrated in  FIG. 23 , a supply line  1170  having hydrants  1100  includes spaced apart bridges  1174  formed of steel or other high-strength structural material and placed over the supply line  1170  to provide cross over points for a vehicle. The bridges  1174  can be spaced at a distance equal to the wheel base of the vehicle. In one embodiment, hydrants  1100  include a location beacon that guides the vehicle to the correct position to align with the bridges. 
     In order to access a hydrants  1100 , a vehicle  1200  can be equipped with a docking station  1202  for use in connecting a conduit  1204  as illustrated in  FIGS. 24 and 25 . Docking station  1202  includes extending arms  1206  that guide the vehicle  1200  such that the hydrant  1100  engages the docking station  1202 . After the hydrant  1100  engages the docking station  1202 , a mating connector  1210  is locked into a guidance cap  1212  on hydrant  1100 . 
     Example hydrants  1100  and  1100 ′ are illustrated in  FIGS. 26 and 27 , respectively. Guidance cap  1212  can include a flow gate  1222  and one or more locating beacons  1224 . Mating connector  1210  on vehicle  1200  is configured to extend into and open the flow gate  1222 , allowing liquid to pass into the conduit  1204 . Locating beacons  1224  provide a signal to alert that a connection has been made successfully. In one embodiment, the beacons  1224  are magnets and the mating connector  1210  includes one or more hall-effect sensors to detect the presence of magnets indicating a successful connection has been made. Flow gate  1222  is positioned in the hydrant and sealed closed by water pressure in the hydrant. As the mating connector  1210  attaches to the hydrant  1100 , the flow gate  1222  is pushed open allowing flow to pass by through the mating connector  1210  and into the conduit  1204 . After vehicle  1200  has completed one or more passes that align with the hydrant  1100 , the mating connector  1220  is disconnected and the vehicle  1200  moves to the next hydrant  1100  and the connection process is repeated. 
     Hydrant  1100  in  FIG. 26  includes an elongate flexible section  1220  extending to distal guidance cap  1212 . The flexible section  1220  allows hydrant  1100  to bend over to the ground level when contacted by an implement like a planter or a combine head. Hydrant  1100 ′ in  FIG. 27  is formed of flexible material and can lay at ground level when not in use. 
     Concepts presented herein can further be used in connection with pivot irrigation systems or other liquid application systems. One example of a pivot irrigation system  1300  is illustrated in  FIG. 28 . The pivot irrigation system  1300  can include one or more ground penetrating members supporting one or more environmental sensors  1302  at one or more locations to measure soil moisture as the system  1300  turns in an arc. Operator station  900  can be used to adjust a speed that the pivot irrigation system  1300  is turned, a master valve, section valves, or individual nozzle valves to change a rate of liquid applied to match the needs measured by the sensors  1302  on the ground penetrating members. Sensor measurements, data storage and transfer, and control decisions may be the same as described herein. The operator may be enabled to park (e.g., stop) the pivot irrigation system  1300  in a location in the field so that sensors  1302  continue to collect and report data from a relevant soil area. Operator station  900  can optionally be used to select a location or suggest multiple locations to the operator where multiple sensors along a length of the pivot irrigation system  1300  are positioned in relevant soil areas in the field. For example, one sensor may be positioned by the control system in the historically driest area of the field (denoted  1310 ) and another sensor in the historically wettest area of the field (denoted  1312 ). If driest and wettest areas are unreachable in one pivot position, a best fit recommendation may be made to the operator that selects the driest area and second wettest area as an example. 
     As illustrated in  FIG. 29 , one or more vehicles  1350  can be used with pivot irrigation system  1300 . Using pivot irrigation system, two or more parked locations may be selected by the operator using the operator station  900  and the pivot irrigation system  1300  or a vehicle  1350  in the field could move between those locations on a schedule as decided by the operator based on historical data or on weather data collected from a weather data service such as NOAA or from a stationary sensor or environmental sensor such as a rain gauge or weather station positioned in the field, on the pivot irrigation system, or on a vehicle. Measurement passes may be scheduled to rotate the pivot irrigation system  1300  or drive through the field with the vehicle  1350  while taking measurements from sensors while not applying any input. After measurements are complete, the operator or control system may create an application plan to be applied during the next application pass. As illustrated, vehicles  1350  can be fluidly coupled to the same water source  1352  as pivot irrigation system  1300  or to a separate water source  1354 . 
     As illustrated in  FIG. 30 , in some embodiments a vehicle  1350  connected to the pivot liquid source  1352  may be connected through a rotatable connection  1356  to avoid wrapping the conduit  1360  carried by the vehicle  1350  around the pivot liquid source  1352  as the pivot irrigation system  1300  and vehicle  1350  travel through the field on separate paths. In another embodiment, the clearance height  1375  under the pivot irrigation system  1300  is greater than a height  1376  of the vehicle  1350  such that the vehicle  1350  is able to travel around the pivot liquid source  1352  to avoid wrapping conduit when traveling from one location in the field to another. In another embodiment, a portion  1377  near the liquid source may be lowered to provide a path for the vehicle to pass over the pivot irrigation system  1300  without making contact. The pivot irrigation system  1300  may also be raised to a position labelled as  1378  for a portion of its length to provide enough clearance for the vehicle  1350  to pass under. 
     Operator system  900  can be used to control the pivot irrigation system  1300  and the vehicle or vehicles  1350  such as one or more of the vehicle embodiments described herein. During an application event, the pivot irrigation system  1300  may apply a single rate to its application area and the vehicle  1350  may travel to areas that need additional water and supplement the amount applied by the pivot irrigation system  1300  to meet the needs of the crop in that area as directed by the operator or by environmental sensors connected to the operator system  900  and mounted to the vehicle, pivot, or stationary in the field. The pivot rate of the pivot irrigation system  1300  may be the maximum rate needed for the wettest area of the field as determined from historical data collected from sensors. The vehicle  1350  may then supplement enough water to reach the maximum rate needed by all other areas including the driest area of the field. The pivot irrigation system  1300  and vehicle  1350  may each apply the rate needed in combination to match the rate for an area as directed by a prescription plan provided by the operator. The vehicle  1350  may also apply all of the liquid needed by soil not part of the reachable application area of the pivot irrigation system  1300  such as the corners of a field. After an application event, the vehicle  1350  may be used to apply liquid to areas of the field with less holding capacity or a higher consumption rate from the crop than other areas. As the area of the field needing application increases as determined by the operator or by control system through sensor measurements, the control system would control the pivot irrigation system  1300  to apply a base rate while simultaneously applying liquid through the vehicle or vehicles  1350 . The controller  540  may direct the vehicle  1350  to apply to areas ahead of the pivot irrigation system  1300  to allow the vehicle  1350  to drive on dry ground. For example, the vehicle  1350  may be applying in the northeast quadrant of the field while the pivot irrigation system  1300  starts applying in the south east quadrant. The vehicle  1350  would then move to the northwest quadrant and the pivot irrigation system  1300  enters the northeast quadrant. The controller  540  may calculate the time required for the pivot irrigation system  1300  and vehicle  1350  and adjust when the two are started and the rate each applies to ensure that the vehicle  1350  stays ahead of the pivot irrigation system  1300 . In some implementations, the vehicle  1350  parks near the liquid source while the pivot irrigation system  1300  applies liquid and is passed over by the pivot irrigation system  1300  until the pivot irrigation system  1300  is finished applying. In other implementations, the vehicle  1350  travels in a small circle around the pivot liquid source  1352  ahead or behind the pivot irrigation system  1300  as it applies and then travels to areas needing further application after the pivot irrigation system  1300  has completed its application. 
     As illustrated in  FIG. 31 , the vehicle  1350  may be connected through a conduit  1380  to an outer end of the pivot irrigation system  1300  to access a liquid supply. The vehicle  1350  travels with the pivot irrigation system  1300  as it moves and may apply to areas outside the application area of the pivot irrigation system  1300 . If an end gun was used previously on the pivot irrigation system  1300 , it may be removed to be replaced by the vehicle  1350  and the booster pump that is often used with end guns may be used to provide the necessary pressure to supply liquid to the vehicle  1350 . The vehicle  1350  may travel ahead of the path of the pivot irrigation system  1300  and dispense extra conduit such that the pivot irrigation system  1300  may continue to move forward while the vehicle  1350  is a distance away from the pivot irrigation system  1300 . In another embodiment, the pivot irrigation system  1300  stops while the vehicle  1350  applies in an area and advances forward after the vehicle  1350  has returned. 
     As illustrated in  FIG. 32 , a secondary conduit reel  1400  is mounted to the end of the pivot irrigation system  1300 . Conduit  1380  is carried by the reel  1400  and a reel  1410  on vehicle  1350 . One end of conduit  1380  is connected to the pivot reel  1400  and the other to the vehicle reel  1410 . As the vehicle  1350  prepares to apply liquid to an area requiring a known length of conduit, the vehicle  1350  optionally moves itself so that the vehicle reel  1410  and the pivot reel  1400  are in alignment such that the conduit  1380  is suspended between the two reels in a reasonably straight line. The controller  540  can calculate a time the vehicle  1350  will spend away from the pivot irrigation system  1300  and the distance that the pivot irrigation system  1300  will travel in that time. The controller  540  then optionally turns both reels to pass the necessary amount of conduit from the vehicle reel  1410  to the pivot reel  1400  so that the pivot irrigation system  1300  may move ahead and dispense conduit  1380  until the vehicle  1350  has returned. After the pivot reel  1400  is loaded, the vehicle  1350  optionally follows an application path while dispensing conduit off the vehicle reel  1410  reel onto the ground until it reaches the end of its path. The vehicle  1350  then optionally backs up and reels up the conduit  1380  including conduit dispensed on the ground by the pivot reel  1400  until it has realigned with the pivot reel  1400  and the conduit  1380  is suspended between the two reels. Then, the process optionally repeats until the field is done or the areas needing application have been covered. 
     In another embodiment of an irrigation vehicle  1500  illustrated in  FIG. 33 , a series of fluid conduit sections  1502  may be stored in a storage area  1504 . Storage area  1504  may be a tub, rack, or rolling drum with receiving areas to capture individual fluid conduit sections  1502 . The fluid conduit sections  1502  may be hose, pipe, or other types of fluid conduits. Each conduit has a mating connector consisting of a first end  1506  and a second end  1508 . The first end of a first conduit is connected to the second end of a second conduit forming a continuous length that is connected to a water supply. As the vehicle  1500  advances through a field of row crops, it dispenses the last fluid conduit at a rate equal to the vehicle speed along a guide track  1510 . The second end  1508  of the last fluid conduit is connected to a primary connector  1512 . The primary connector  1512  receives liquid through the combined length of conduits and passes the liquid through a flexible hose  1514 . As the last fluid conduit reaches the end of the guide track, the flexible hose  1514  is fully extended. The flexible hose  1514  is connected to a liquid supply tube  1520  of the vehicle  1500  allowing liquid to be dispensed along a length of a boom  1522  of the vehicle  1500 . 
     After the last fluid conduit  1502  reaches an end of the guide track  1510 , the vehicle  1500  is stopped and the water supply is stopped. The primary connecter  1512  disconnects from the first end  1506  and retracts to the opposite end of the guide track  1510 . A new fluid conduit  1502  is dropped from the storage area  1504  on to the guide track  1510 . The first end  1506  of the last conduit is connected to the second end  1508  of the new conduit in a connection zone  1530 . The primary connector  1512  attaches to the first end  1506  of the new conduit and the water supply is restarted. The vehicle  1500  advances forward and the process is repeated until the vehicle  1500  reaches a desired stopping point or all of the available fluid conduits  1502  are used. The vehicle  1500  then reverses direction and the process is reversed with fluid sections being removed from the combined length of conduits and each removed fluid section being restored in the storage area  1504 . 
     Further detail of the connection zone  1530  is illustrated in  FIG. 34 . The first end  1506  of a conduit section is retained in place by clamping arms  1550 . Arms  1550  may be selectively driven by actuators  1552  to retain the first end  1506  while being connected or disconnected to the next fluid conduit section or the primary connector  1512 . In one embodiment, connectors are threaded and rotated to provide a water tight connection, for example with twist lock, push connect, or other connector styles may be used. The second end  1508  of the next fluid conduit section is pulled toward the first end  1506  of the last conduit using pulling arms  1555  which may translated along guides  1556  and be driven by actuators  1552 . As ends are ready to be connected or disconnected, the second end may be rotated by a motor  1560  through a gear  1562  into mating teeth on the exterior of the second end  1508 . 
     Further details of the primary connector  1512  are illustrated in  FIG. 35 . An end of the primary connector  1512  is designed with the same connecting features as the second end  1508  of the fluid conduits sections  1502 . As the primary connector  1512  is driven along the guide rail  1510 , the end is driven to allow for the connection to occur. In an embodiment where the first and second ends are threaded, the connecting end of the primary connector  1512  may be rotated at a rotation joint  1570 . The rotation joint  1570  may include a sealing face  1572 , a seal  1574  such as an o-ring, and a joint collar  1576  that allows rotation but not separation of the joint. The rotation may be driven by a motor  1580  through a gear  1582  aligned with mating teeth  1584  on the exterior of the primary connector  1512 . 
       FIG. 36  schematically illustrates a field is shown that has a water supply  1700 . The water supply may be a well, river, lake, or other body of water. The body of water could be supplied by tile laid out in the field. The water supply  1700  may be in the center of the field such as a pivot irrigation well. A drag hose  1702  is connected to the water supply  1700  and to a supply vehicle  1704 . The supply vehicle  1704  carries a supply conduit  1712  stored on a reel that is connected to a crop applicator input vehicle  1710  to supply water through the vehicle  1710 . The vehicle  1710  travels with the direction of the rows of plants while irrigating and drags the supply conduit  1712  off of the reel on the supply vehicle  1704 . After vehicle  1710  finishes a pass and reaches the edge of the field, it reverses direction of travel and moves towards the supply vehicle  1704 . It may be applying liquid both while traveling out and traveling back on that pass. The supply vehicle  1704  turns the reel to retract the conduit. After the vehicle  1710  reaches the supply vehicle  1704  it connects to the supply vehicle  1704  through the vehicle latch points ( FIG. 4 ) and moves it to the center of the next pass. The drag hose  1702  remains connected to the supply vehicle  1704  and is drug along the ground until the center of the next pass is reached. The vehicle  1710  drives a path such that the drag hose  1702  maintains a J shape. Once the center of the new pass is reached, the vehicle  1710  disconnects from the supply vehicle  1704  and begins pulling out the conduit while irrigating that pass. The process repeats for any pass in the field that has been designated by the operator to be irrigated. 
       FIG. 37  illustrates water supply  1700  in a middle of the field. The vehicle  1710  while carrying a reel as discussed herein dispenses conduit  1790  as it travels through the middle of the field until it reaches the center of a pass of crop that has been designated by the operator to be irrigated. At that point, the vehicle turns 90 degrees to align with the rows and moves forward while applying liquid until it reaches the end of the pass. It then reveres to the middle of the field. It may irrigate while reversing as well. After reaching the middle of the field as illustrated in  FIG. 38 , the vehicle  1710  reverses towards the water supply  1700  to retract the conduit until the original 90 degree turn has been eliminated. Subsequently, as illustrated in  FIG. 39 , vehicle  1710  then turns 90 degrees in the opposite direction to complete the lower half of the pass to be irrigated and returns to the middle of the field. The vehicle then further extends or retracts conduit at the middle of the field to align with the center of a new pass to be irrigated and repeats the process. 
       FIG. 40  illustrates multiple paths for a vehicle operating from a water supply  1700  in an irregular shaped field F that falls includes a primary path  1800  that stretches the length of one dimension of the field. As the vehicle  1710  travels to a location to apply a liquid, the vehicle  1710  may follow the primary line  1800  before turning ninety degrees to align with a pass and traveling along that pass until reaching the location to apply. In other embodiments, the vehicle  1710  may travel along a primary line  1800  for a portion of the field but then follow a secondary line  1810  connecting to the primary line  1800  but on a different heading to reach an area of the field in a shorter path than the primary line  1800 . In some implementations, the vehicle  1710  uses less length of conduit by traveling and dispensing along the secondary line  1810  than if it had followed the primary line and turned ninety degrees to follow a pass to the field. Once reaching the application location, the secondary line  1810  may run parallel to the primary line  1800  and the vehicle  1710  may turn ninety degrees from the secondary line to align with a pass and apply liquid in that pass. 
     Various modifications to the embodiments and the general principles and features of the apparatus, systems, and methods described herein will be readily apparent to those of skill in the art. Thus, the foregoing description is not to be limited to the embodiments of the apparatus, systems, and methods described herein and illustrated in the drawing figures.