Patent Publication Number: US-2021161086-A1

Title: Irrigation system with height-adjusting system for adjusting tower height

Description:
RELATED APPLICATIONS 
     The present application is a divisional patent application and claims priority of co-pending application titled “IRRIGATION SYSTEM WITH HEIGHT-ADJUSTING SYSTEM FOR ADJUSTING TOWER HEIGHT”, Ser. No. 16/272,531, filed Feb. 11, 2019, the content of which is hereby incorporated by reference in its entirety. 
    
    
     BACKGROUND 
     Irrigation systems, such as linear and center-pivot irrigation systems, include elevated water conduits supported by mobile towers. The elevated water conduits are connected to sprinklers or other fluid emitters. The mobile towers are configured to travel across a field as water flows through the conduits and is applied to crops in the field via the fluid emitters. 
     The towers must be tall enough so that the conduits can travel above the crops in the field to avoid damaging them. Because the water conduits must be supported above crops at their tallest heights, there is typically a large distance between the fluid emitters and younger crops or crops having a shorter height at maturity. The large distance between the fluid emitters and crops results in inefficient water application because wind, heat, and low humidity evaporate a substantial portion of the water before it reaches the shorter crops. 
     One solution to these problems is to use sprinkler drops. Sprinkler drops are elongated tubes that connect to the conduits and extend downwardly closer to the crops. Sprayer heads or other fluid emitters attach to the lower end of the sprinkler drops to deliver water closer to the crops. However, the sprinkler drops must be adjusted as the crops grow or when an irrigation system is used for different crops having various heights, and such adjustments are difficult and time-consuming. 
     Another problem with supporting heavy, water-laden conduits from tall mobile towers is it causes a high center of gravity such that the irrigation systems are prone to tipping over or other damage when exposed to high winds and when moved over hills and valleys. 
     The background discussion is intended to provide information related to the present invention which is not necessarily prior art. 
     SUMMARY 
     The present invention solves the above-described problems and other problems by providing an irrigation system having a height-adjusting system configured to raise or lower the irrigation system so as to accommodate crops of various heights and so as to selectively lower its center of gravity during storms and while traversing hills and valleys. 
     An irrigation system constructed in accordance with an embodiment of the present invention broadly comprises a fluid-carrying conduit, two or more spaced-apart mobile towers, and a height-adjusting system for raising or lowering the irrigation system. The mobile towers are configured to support and move the conduit and other components of the irrigation system over a field. Each mobile tower comprises a pair of legs, a wheel on each leg, and a motor for driving at least one of the wheels. Each leg has a first end coupled with the fluid-carrying conduit and a second end. The wheels are connected to the second ends of the legs. 
     The height-adjusting system is configured to move the second ends of the legs of each mobile tower relative to one another to raise or lower the irrigation system. Specifically, the second ends of each mobile tower are moved close to one another to raise the irrigation system and moved away from one another to lower the irrigation system. 
     In another aspect, a method of adjusting a height of an irrigation system broadly comprises determining a height adjustment of the irrigation system is warranted; moving lower ends of legs of each mobile tower of the irrigation system apart so as to lower the irrigation system when the determining step determines a lower height is warranted; and moving the lower ends of the legs of each of the mobile towers of the irrigation system toward one another so as to raise the irrigation system when the determining step determines a higher height is warranted. 
     In another aspect, the above-described irrigation system also comprises a control system for controlling the height-adjusting system. The control system may include a user interface, a data feed device, and a processing element. The user interface is configured to receive commands to raise or lower the irrigation system. The data feed device is configured to receive data representative of at least one of a wind speed, an air temperature, a crop temperature, GPS coordinates of the irrigation system, a vertical distance from the irrigation system to the field, a vertical distance from the irrigation system to a crop, a weather forecast, and a humidity level. The processing element is in communication with the data feed device and the user interface and is configured to receive the commands to raise or lower the irrigation system from the user interface, receive the data from the data feed device, analyze the data, and direct the motors to move the legs of each mobile tower relative to one another to raise or lower the irrigation system. 
     This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Other aspects and advantages of the present invention will be apparent from the following detailed description of the embodiments and the accompanying drawing figures. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWING FIGURES 
       Embodiments of the present invention are described in detail below with reference to the attached drawing figures, wherein: 
         FIG. 1  is a perspective view of an exemplary irrigation system including height-adjusting systems constructed in accordance with embodiments of the invention; 
         FIG. 2  is a front side perspective view of a mobile tower of the irrigation system having one of the height-adjusting systems of  FIG. 1 ; 
         FIG. 3  is a block diagram of a control system constructed in accordance with an embodiment of the invention; 
         FIG. 4  is a front side perspective view of the mobile tower of  FIG. 2 , with its height lowered; 
         FIG. 5  is a front side perspective view of the mobile tower of  FIG. 2 , with its height raised; 
         FIG. 6  is a front side perspective view of an irrigation system with a height-adjusting system constructed in accordance with another embodiment of the invention; 
         FIG. 7  is a front side perspective view of a mobile tower of the irrigation system of  FIG. 6 ; 
         FIG. 8  is a block diagram of the height-adjusting system of  FIG. 6 ; 
         FIG. 9  is a front side perspective view of the mobile tower of  FIG. 7 , with its height lowered; 
         FIG. 10  is a front side perspective view of the mobile tower of  FIG. 7 , with its height raised; 
         FIG. 11  is a front side perspective view of a mobile tower constructed in accordance with another embodiment of the invention; and 
         FIG. 12  is a flowchart illustrating at least a portion of the steps for adjusting a height of an irrigation system in accordance with an embodiment of the present invention. 
     
    
    
     The drawing figures do not limit the present invention to the specific embodiments disclosed and described herein. The drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the invention. 
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     The following detailed description of the invention references the accompanying drawings that illustrate specific embodiments in which the invention can be practiced. The embodiments are intended to describe aspects of the invention in sufficient detail to enable those skilled in the art to practice the invention. Other embodiments can be utilized and changes can be made without departing from the scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense. The scope of the present invention is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled. 
     In this description, references to “one embodiment”, “an embodiment”, or “embodiments” mean that the feature or features being referred to are included in at least one embodiment of the technology. Separate references to “one embodiment”, “an embodiment”, or “embodiments” in this description do not necessarily refer to the same embodiment and are also not mutually exclusive unless so stated and/or except as will be readily apparent to those skilled in the art from the description. For example, a feature, structure, act, etc. described in one embodiment may also be included in other embodiments, but is not necessarily included. Thus, the present technology can include a variety of combinations and/or integrations of the embodiments described herein. 
     Turning to  FIG. 1 , an irrigation system  10  constructed in accordance with a first embodiment of the invention is illustrated. The illustrated irrigation system  10  may be a central pivot irrigation system, a linear irrigation system, or any other irrigation system known in the art. The irrigation system  10  may have access to a well, water tank, or other source of water and may also be coupled with a tank or other source of agricultural products to inject fertilizers, pesticides and/or other chemicals into the water for application during irrigation. 
     The irrigation system  10  may comprise a fluid-carrying conduit  12  connected to the source of water, a number of spaced-apart mobile towers  14 ,  16 ,  18 ,  20  configured to support and move the conduit  12  above a field, and a height-adjusting system  22 ,  24 ,  26 ,  28  on each mobile tower  14 ,  16 ,  18 ,  20 . 
     The conduit  12  may be supported by truss sections  30 ,  32 ,  34  or other supports to form a number of interconnected spans. Each of the truss sections  30 ,  32 ,  34  may carry or otherwise support a fluid emitter  36 ,  38 ,  40  that is in fluid communication with the conduit  12 . The fluid emitters  36 ,  38 ,  40  may include a plurality of sprayer heads, sprinkler drops, spray guns, drop nozzles, valves, and/or other devices and are spaced along the truss sections  30 ,  32 ,  34  to apply water and/or other fluids to an area beneath the irrigation system  10 . 
     Each mobile tower  14 ,  16 ,  18 ,  20  may include a pair of legs  42 ,  44 ,  46 ,  48 , and each leg  42 ,  44 ,  46 ,  48  may have a first end  50 ,  52 ,  54 ,  56  coupled with the conduit  12  via a swivel connection  58 ,  60 ,  62 ,  64 , as discussed in further detail below. Each mobile tower  14 ,  16 ,  18 ,  20  may also include a wheel  66 ,  68 ,  70 ,  72  connected to a second end  74 ,  76 ,  78 ,  80  of each leg  42 ,  44 ,  46 ,  48 . As shown in  FIG. 1 , each of the wheels  66 ,  68 ,  70 ,  72  may be driven by a motor  82 ,  84 ,  86 ,  88 . In some embodiments, the motors  82 ,  84 ,  86 ,  88  may be configured to drive a single wheel  66 ,  68 ,  70 ,  72  on its respective mobile tower  14 ,  16 ,  18 ,  20 , wherein the wheels  66 ,  68 ,  70 ,  72  not driven by motors  82 ,  84 ,  86 ,  88  on each mobile tower  14 ,  16 ,  18 ,  20  are free-rotating wheels. In some embodiments, the motors  82 ,  84 ,  86 ,  88  may include a wheel drive gearbox  83  (shown in  FIG. 2 ) for transferring power from the motors  82 ,  84 ,  86 ,  88  to the wheels  66 ,  68 ,  70 ,  72 . 
     The height-adjusting systems  22 ,  24 ,  26 ,  28  may broadly include the swivel connections  58 ,  60 ,  62 ,  64  and a control system  90  (shown in  FIG. 2 ). The swivel connections  58 ,  60 ,  62 ,  64  may be any mechanism configured to mechanically connect the first ends  50 ,  52 ,  54 ,  56  of the legs  42 ,  44 ,  46 ,  48  to the conduit  12  and enable angular movement of the legs  42 ,  44 ,  46 ,  48  relative to one another. The swivel connections  58 ,  60 ,  62 ,  64  may be hinges, joints, swivels, pin-connectors, or the like. 
     One of the mobile towers  14  and one of the height-adjusting systems  22  are shown in more detail in  FIG. 2 . The height-adjusting system  22  may broadly include a swivel connection  58  and a control system  90 . The control system  90  is for operating the motors  82  to move the legs  42  relative to one another and may be in communication with the motors  82  of the mobile tower  14 . One embodiment of the control system  90  may include a processing element  92 , memory  94 , a communication component  96 , a data feed device  98 , and a user interface  100  (as depicted in  FIG. 3 ). 
     The processing element  92  may run a computer program stored in or on computer-readable medium residing on the memory  94  or otherwise accessible by the control system  90 . The computer program may preferably comprise ordered listings of executable instructions for implementing logical functions by the processing element  92 . The computer program may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device, and execute the instructions. In the context of this document, a “computer-readable medium” can be any means that can contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus, or device. 
     The computer-readable medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semi-conductor system, apparatus, device, or propagation medium. More specific, although not inclusive, examples of the computer-readable medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a random-access memory (RAM), a read-only memory (ROM), an erasable, programmable, read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disk read-only memory (CDROM). The computer-readable medium may be one or more components incorporated into the control system  90  and/or other computing devices. 
     The memory  94  of the control system  90  may include, for example, removable and non-removable memory elements such as RAM, ROM, flash, magnetic, optical, USB memory devices, and/or other conventional memory elements. The memory  94  may store various data associated with the control system  90 , such as the computer program and code segments mentioned above, or other data for instructing the motors  82  to perform the steps described herein. Further, the memory  94  may store data retrieved from the data feed device  98 , and/or remote computing and memory devices. 
     The communication component  96  may be a GPS unit, a communication device configured to receive a weather forecast and/or other data, and/or a communication device that receives control signals from the user interface  100 . The communication component  96  may be a wired or wireless transceiver that communicates with other devices, systems, or networks. The communication component  96  may include signal or data transmitting and receiving circuits, such as antennas, transceivers, amplifiers, filters, mixers, oscillators, digital signal processors (DSPs), and the like. The communication component  96  may establish communication wirelessly by utilizing RF signals and/or data that comply with communication standards such as cellular 2G, 3G, or 4G, IEEE 802.11 standard such as WiFi, IEEE 802.16 standard such as WiMAX, Bluetooth®, or combinations thereof. Alternatively, or in addition, the communication component  96  may establish communication through connectors or couplers that receive metal conductor wires or cables which are compatible with networking technologies such as ethernet. In certain embodiments, the communication component  96  may also couple with optical fiber cables. The communication component  96  may be in communication with or electronically coupled to memory  94  and/or processing element  92 . 
     The data feed device  98  communicates with the processing element  92  and be any device known in the art for receiving, detecting, and/or transmitting data. The data may be representative of environmental information including a wind speed, an air temperature, a crop temperature, GPS coordinates of the irrigation system, a vertical distance from the irrigation system to the field, a vertical distance from the irrigation system to a crop, a weather forecast, a slope of the ground, and a humidity level. The data feed device  98  may include a sensor such as a distance-monitoring device that monitors a distance between two points, a humidity sensor that measures a humidity level of air, a wind sensor that measures wind speed, a temperature sensor that measures a temperature of the air and/or an object, an accelerometer used to track an orientation of the irrigation system  10  to determine a slope of the ground, and the like. The sensors may be on-board, or attached to the irrigation system  10 , or at a remote location, such as at a tower, building, house, etc. 
     The user interface  100  communicates with the processing element  92  and be a remote user interface, such as a computer and/or smart phone application, or it may be part of a control panel of the irrigation system  10 . The user interface  100  may generally allow the user to utilize inputs and outputs to interact with the control system  90 . Inputs may include buttons, pushbuttons, knobs, jog dials, shuttle dials, directional pads, multidirectional buttons, switches, keypads, keyboards, mice, joysticks, microphones, or the like, or combinations thereof. Outputs may include audio speakers, lights, dials, meters, printers, or the like, or combinations thereof. With the user interface  100 , the user may be able to control the features and operation of the irrigation system  10 . 
     The processing element  92  is configured to direct the motors  82  upon determining that a height adjustment of the irrigation system  10  is warranted. The processing element  92  may be configured to direct the motors  82  to drive the wheels  66  so that they move away from one another in order to lower a height of the irrigation system  10 , as shown in  FIG. 4 . To raise the height of the irrigation system  10 , the processing element  92  may be configured to direct the motors  82  to drive the wheels  66  so that they move closer to one another, as shown in  FIG. 5 . The processing element  92  may be configured to direct only one of the motors  82  to drive its corresponding wheel  66  while the other wheel  66  remains in the same spot. 
     The processing element  92  may be configured to determine the height adjustment is warranted based on data received from the data feed device  98 . The data that the processing element  92  receives may include a distance between two points, such as a distance between the irrigation system  10 , or a part thereof, and the ground or a crop. The data may also be a wind speed, a temperature of the air or a crop, GPS coordinates, a weather forecast, control signals, a type of crop, and/or other data. 
     The processing element  92  may also be configured to determine a magnitude of the height adjustment required, or a desired height of the irrigation system  10 , based on the received data. The processing element  92  may be configured to determine a height of the irrigation system  10  any number of ways without departing from the scope of the present invention, including monitoring an angle between the legs  42  of the tower  14 , a distance between a point on the irrigation system  10  and the ground, a distance between a point on one of the legs  42  of the tower  14  and a point on the other leg  42 , tracking a distance traveled between wheels  66 , etc. 
     In use, the processing element  92  may receive data from the data feed device  98 . The processing element  92  may be configured to analyze the data to determine a height adjustment is warranted. For example, the processing element  92  may determine a height adjustment is warranted based on a control signal from the user interface  100 . The control signal is triggered by a user directing the irrigation system  10  to be raised or lowered. The control signal may include a desired height for the irrigation system  10 . 
     The processing element  92  may determine a height adjustment is warranted based on a weather forecast that is indicative of high winds and/or lightening. The weather forecast may include the current and/or future weather. The processing element  92  may determine a height adjustment is warranted based on a detected windspeed exceeding a threshold. If the processing element  92  determines a presence of lightening and/or high wind speeds, the processing element  92  may direct the lowering of the irrigation system  10 . By lowering the irrigation system  10  via moving the wheels  66  apart, the mobile tower  14  has a lower center of gravity and wider base. When all the mobile towers do this, the entire irrigation system  10  also has a lower center of gravity and wider base. This improves the stability of the irrigation system  10 , makes it more able to endure high wind speeds, and prevents and/or reduces damage. The processing element  92  may determine a height adjustment is warranted based on high windspeeds and/or lightening no longer being present. For example, the irrigation system  10  may be returned to its original height or set to a different height based on the data. 
     The processing element  92  may determine a height adjustment is warranted based on a detection of a slope of the ground. The irrigation system  10  may be lowered to increase stability when traversing a slope, such as a hill or valley. 
     The processing element  92  may determine a height adjustment is warranted based on a distance to the ground and/or a crop. For example, the processing element  92  may determine the irrigation system  10  is in or near a portion of a field having a crop with a certain height based on GPS coordinates of the irrigation system  10 . Additionally or alternatively, the processing element  92  may determine a height adjustment is warranted based on a measured distance from the irrigation system  10  to a crop using the distance-monitoring device. In either case, if the distance to crops is too great or too small, the control system  90  may be configured to adjust the height to a desired distance. This enables the irrigation system  10  to water a portion of a field with crops having a different height. Further, it enables irrigation system  10  to be adjusted in height as crops grow. 
     The processing element  92  may determine a height adjustment is warranted based on an evaporation rate. The processing element  92  may be configured to determine a likelihood of evaporation accounting for wind speed, humidity, temperature, weather forecast, and/or the like. For example, if one and/or a combination of the aforementioned achieve a certain threshold, then the irrigation system  10  may be lowered so that water is applied more directly to the crops and/or soil in order to reduce evaporation. 
     An irrigation system  10 A constructed in accordance with another embodiment of the invention is shown in  FIGS. 6 and 7 . The irrigation system  10 A may comprise substantially similar components as irrigation system  10 ; thus, the components of irrigation system  10 A that correspond to similar components in irrigation system  10  have an ‘A’ appended to their reference numerals. 
     The height-adjustment system  22 A,  24 A,  26 A,  28 A of irrigation system  10 A may include expansion mechanisms  102 ,  104 ,  106 ,  108 . The expansion mechanisms  102 ,  104 ,  106 ,  108  may be connected to and extending between the pair of legs  42 A,  44 A,  46 A,  48 A of each tower  14 A,  16 A,  18 A,  20 A. The expansion mechanisms  102 ,  104 ,  106 ,  108  may be in wired or wireless communication with the control system  90 A, as represented in  FIG. 8 . The control system  90 A, the motors  82 A,  84 A,  86 A,  88 A, and the expansion mechanisms  102 ,  104 ,  106 ,  108  may be configured to cooperatively adjust the height of the irrigation system  10 A. The expansion mechanisms  102 ,  104 ,  106 ,  108  may be configured to merely permit movement in one or both directions (expansion and/or contraction). Additionally or alternatively, the expansion mechanisms  102 ,  104 ,  106 ,  108  may be configured to apply a force in one or both directions. Expansion of the expansion mechanisms  102 ,  104 ,  106 ,  108  causes the irrigation system  10 A to lower, as shown in  FIG. 9 ; contraction of the expansion mechanisms  102 ,  104 ,  106 ,  108  causes the irrigation system  10 A to rise, as shown in  FIG. 10 . 
     For example, the expansion mechanisms  102 ,  104 ,  106 ,  108  may be telescoping links configured to change in length to permit the second ends  74 A,  76 A,  78 A,  80 A of the legs  42 A,  44 A,  46 A,  48 A of the towers  14 A,  16 A,  18 A,  20 A to move relative to one another. The expansion mechanisms  102 ,  104 ,  106 ,  108  may also be configured to maintain a current length and thereby hold the second ends  74 A,  76 A,  78 A,  80 A in a position relative to one another. The expansion mechanisms  102 ,  104 ,  106 ,  108  may use any technique, and/or include any apparatus, for maintaining its length. The expansion mechanisms  102 ,  104 ,  106 ,  108  may include electric actuators that drive locking mechanisms for holding the expansion mechanisms  102 ,  104 ,  106 ,  108  at their lengths. The expansion mechanisms  102 ,  104 ,  106 ,  108  may include hydraulic and/or pneumatic cylinders configured to enable free movement while also being able to hold a certain length. The control system  90 A may be configured to direct the expansion mechanisms  102 ,  104 ,  106 ,  108  to permit movement of the legs  42 A,  44 A,  46 A,  48 A relative to one another. For example, the control system  90 A may direct the expansion mechanisms  102 ,  104 ,  106 ,  108  to permit movement of the legs  42 A,  44 A,  46 A,  48 A when the control system  90 A has determined a height adjustment of the irrigation system  10 A is warranted. Once the height adjustment is made, the control system  90 A may be configured to direct the expansion mechanisms  102 ,  104 ,  106 ,  108  to hold their current length. 
     The expansion mechanisms  102 ,  104 ,  106 ,  108  may additionally, or alternatively, be configured to apply a horizontal force on the legs  42 A,  44 A,  46 A,  48 A so that the legs  42 A,  44 A,  46 A,  48 A move relative to one another. The expansion mechanisms  102 ,  104 ,  106 ,  108  may use any technique, and/or apparatus, for causing the expansion mechanisms  102 ,  104 ,  106 ,  108  to lengthen or shorten. The expansion mechanism  102 ,  104 ,  106 ,  108  may include an electric actuator, a hydraulic cylinder, a pneumatic cylinder, a mechanical jack, or the like. 
     In some embodiments, the expansion mechanisms  102 ,  104 ,  106 ,  108  may be configured to only apply an expansion force for lowering the height of the irrigation system  10 A, while merely permitting contraction when raising the height of the irrigation system  10 A. In other embodiments, the expansion mechanisms  102 ,  104 ,  106 ,  108  may be configured to only apply a contraction force for raising the height of the irrigation system  10 A, while merely permitting expansion when lowering the height of the irrigation system  10 A. 
     The control system  90 A may be configured to direct the motors  82 A,  84 A,  86 A,  88 A and the expansion mechanisms  102 ,  104 ,  106 ,  108  to synchronously work to move the legs  42 A,  44 A,  46 A,  48 A relative to one another. For example, the control system  90 A may be configured to direct the motors  82 A,  84 A,  86 A,  88 A to drive the wheels  66 A,  68 A, 70 A,  72 A a certain direction so that the second ends  74 A,  76 A,  78 A,  80 A of the legs  42 A,  44 A,  46 A,  48 A move away from each other. The control system  90 A may concurrently direct the expansion mechanisms  102 ,  104 ,  106 ,  108  either permit expansion or apply an expansion force to aid the motors  82 A,  84 A,  86 A,  88 A in moving the legs  42 A,  44 A,  46 A,  48 A apart. Additionally, the control system  90 A may be configured to direct the motors  82 A,  84 A,  86 A,  88 A to drive the wheels  66 A,  68 A,  70 A,  72 A a certain direction so that the second ends  74 A,  76 A,  78 A,  80 A of the legs  42 A,  44 A,  46 A,  48 A move toward each other. The control system  90 A may concurrently direct the expansion mechanisms  102 ,  104 ,  106 ,  108  to either permit contraction or apply a contraction force to aid the motors  82 A,  84 A,  86 A,  88 A in moving the legs  42 A,  44 A,  46 A,  48 A together. In some embodiments, the motors  82 A,  84 A,  86 A,  88 A may be configured to rotate freely as the expansion mechanisms  102 ,  104 ,  106 ,  108  apply a force in one or both directions. 
     In some embodiments, only one motor  82 A,  84 A,  86 A,  88 A on each tower  14 A,  16 A,  18 A,  20 A is used with the expansion mechanisms  102 ,  104 ,  106 ,  108  to raise or lower the irrigation system  10 A. For example, the control system  90 A may be configured to drive one of the motors  82 A,  84 A,  86 A,  88 A while the expansion mechanisms  102 ,  104 ,  106 ,  108  permit movement or apply a horizontal force. 
     A mobile tower  14 B constructed in accordance with another embodiment of the invention is shown in  FIG. 11 . The mobile tower  14 B may comprise substantially similar components as mobile tower  14 A; thus, the components of mobile tower  14 B that correspond to similar components in mobile tower  14 A have a ‘B’ appended to their reference numerals. The mobile tower  14 B may include only one motor  82 B for driving one of its wheels  66 B. The motor  82 B and expansion mechanism  102 B may cooperatively raise or lower the height of the irrigation system, as discussed above. 
     However, it is foreseen that any number of configurations of a control system, motors, and expansion mechanisms may be used without departing from the scope of the present invention. 
     The flow chart of  FIG. 12  depicts the steps of an exemplary method  200  of adjusting a height of an irrigation system. In some alternative implementations, the functions noted in the various blocks may occur out of the order depicted in  FIG. 12 . For example, two blocks shown in succession in  FIG. 12  may in fact be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order depending upon the functionality involved. In addition, some steps may be optional. Some or all of the steps described below and illustrated in  FIG. 12  may also represent executable code segments stored on the computer-readable medium described above and/or executable by the control system  90 . 
     The method  200  is described below, for ease of reference, as being executed by exemplary devices and components introduced with the embodiments illustrated in  FIGS. 1-11 . For example, the steps of the method  200  may be performed by the irrigation system  10 , the mobile towers  14 ,  16 ,  18 ,  20 , the height-adjusting system  22 ,  24 ,  26 ,  28 , and the control system  90  through the utilization of processors, transceivers, hardware, software, firmware, or combinations thereof. However, a person having ordinary skill will appreciate that responsibility for all or some of such actions may be distributed differently among such devices or other computing devices without departing from the spirit of the present invention. One or more computer-readable medium(s) may also be provided. The computer-readable medium(s) may include one or more executable programs stored thereon, wherein the program(s) instruct one or more processing elements to perform all or certain of the steps outlined herein. The program(s) stored on the computer-readable medium(s) may instruct the processing element(s) to perform additional, fewer, or alternative actions, including those discussed elsewhere herein. 
     Referring to step  201 , a height adjustment of an irrigation system is determined to be warranted. A control system may be configured to determine that the adjustment is warranted by receiving and/or analyzing data as discussed above. The data may be received from a data feed device, such as sensors (on-board or remote), a communication device, a user interface, etc., as discussed above. For example, the data may include receiving control signals from the user interface. The data may also include weather data received from a communication device. The data may be received from a distance-monitoring device and may include a vertical distance between a crop, and/or the ground, and the irrigation system. The data may be received from a wind sensor and include a wind speed. The data may also be received from a GPS system and may include GPS coordinate. 
     Referring to step  202 , lower ends of legs of each mobile tower of the irrigation system are moved apart so as to lower the irrigation system when the determining step determines a lower height is warranted. The step of moving apart the lower ends of the legs may be performed using any combination of motors, height-adjusting systems, expansion mechanisms, etc., as discussed above. 
     The legs may be moved apart a distance according to pre-existing settings, an existence of control signals from a user interface, or based on the received data. Further, once the legs are moved apart at the desired distance, the distance between the legs may be held at that distance. The distance may be held using any combination of motors, height-adjusting systems, expansion mechanisms, etc., as discussed above. 
     Referring to step  203 , the lower ends of the legs of each mobile tower of the irrigation system are moved toward one another so as to raise the irrigation system when the determining step determines a higher height is warranted. The step of moving the lower ends of the legs toward one another may be performed using any combination of motors, height-adjusting systems, expansion mechanisms, etc., as discussed above. 
     The legs may be moved toward one another to a distance according to pre-existing settings, an existence of control signals from a user interface, or based on the received data. Further, once the legs are moved toward one another at the desired distance, the distance between the legs may be held at that distance. The distance may be held using any combination of motors, height-adjusting systems, expansion mechanisms, etc., as discussed above. 
     The method  200  may include additional, less, or alternate steps and/or device(s), including those discussed elsewhere herein. 
     It will be appreciated that the height-adjusting system may be used with other types of irrigation systems without departing from the scope of the present invention. Further, the height-adjusting system may include any means for triggering a height adjustment instead of, or in addition to, the control system, such as a button or switch that activates the motors to move the legs relative to one another. The means for triggering the height-adjusting system may additionally or alternatively include a communication component for receiving instructions to activate the motors. 
     Although the invention has been described with reference to the embodiments illustrated in the attached drawing figures, it is noted that equivalents may be employed and substitutions made herein without departing from the scope of the invention as recited in the claims. 
     Having thus described various embodiments of the invention, what is claimed as new and desired to be protected by Letters Patent includes the following: