Patent Publication Number: US-2022219697-A1

Title: Multi-operational land drone

Description:
The present application claims priority to U.S. Provisional Patent Application No. 63/136,197, filed on Jan. 11, 2021, U.S. Provisional Patent Application No. 63/164,096, filed on Mar. 22, 2021, and U.S. Provisional Patent Application No. 63/210,592, filed on Jun. 15, 2021. The entire contents of each of which are incorporated by reference in the present disclosure. 
    
    
     FIELD 
     The present disclosure is generally directed towards a multi-operational land drone. 
     BACKGROUND 
     Unless otherwise indicated herein, the materials described herein are not prior art to the claims in the present application and are not admitted to be prior art by inclusion in this section. 
     Farming and agricultural ventures are often associated with labor intensive work and long hours. In some circumstances, long hours may be attributed to the large tracts of land on which the ventures are operated. Oftentimes, many hours are spent on tractors and other agricultural vehicles as part of maintaining the land and crops located thereon. 
     The subject matter claimed in the present disclosure is not limited to embodiments that solve any disadvantages or that operate only in environments such as those described above. Rather, this background is only provided to illustrate one example technology area where some embodiments described in the present disclosure may be practiced. 
     BRIEF SUMMARY 
     In an embodiment, a multi-operational land drone includes a vehicle body, one or more batteries, one or more sensors, and a removeable dashboard. The one or more batteries are disposed on a lower portion of the vehicle body. The one or more sensors are disposed on the vehicle body. 
     These and other aspects, features and advantages may become more fully apparent from the following brief description of the drawings, the drawings, the detailed description, and appended claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Example embodiments will be described and explained with additional specificity and detail through the use of the accompanying drawings in which: 
         FIG. 1  is a block diagram of an example system that includes a multi-operational land drone; 
         FIG. 2  is a block diagram of an example powertrain control system; 
         FIG. 3  illustrates a block diagram of an example computing system; 
         FIG. 4  illustrates a flowchart of an example method of selecting an operating mode of a multi-operational land drone; and 
         FIG. 5  illustrates a flowchart of an example method of adjusting a powertrain of a multi-operations land drone, all according to one or more embodiments of the present disclosure. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Tractors and other large machinery have long been used to cultivate large tracts of land. In some circumstances, tractors are also used on moderate and small sized farms as they may enable faster and lower effort cultivation regardless of land scale. Operation of the tractors and other machinery in the foregoing circumstances often requires a significant investment of time. Additionally, circumstances may arise where the tractor may be operated in less desirable circumstances, such as operating under extreme winds or temperatures because a harvest window is narrow. 
     The demand for improving crop yield is a continually pressing matter. While the world population continues to rise, the amount of arable land remains essentially steady, and even declining in some regions. As such, improving the use of arable land becomes even more important to ensure demands for food and other resources are being met. 
     Operating large machinery, including tractors, in furtherance of developing and farming arable land is often time intensive. Additionally, there may be land in which the soil is suitable for farming and other agricultural uses, but may be difficult to maintain, or impractical and/or unsafe for conventional tractors and machinery. 
     In some circumstances, large machinery, used in conjunction with agricultural, construction, mining, and other uses, often produces large amounts of pollution that may be harmful to the environment. Additionally, the heavy pollution from the large machinery may also be harmful to plants and crops which are being cultivated with the use of the large machinery. 
     In some circumstances, example embodiments of the multi-operational land drone may facilitate remote operation in addition to manual operation. For example, the multi-operational land drone may include line-of-sight remote controlled operations, teleoperations using video cameras, and autonomous operations. In addition, the various remote operation modes may enable the use of the multi-operational land drone in circumstances that might otherwise be hazardous or undesirable for the operator. For example, remote operation modes may be used in extreme temperatures or high winds that might otherwise pose risks to the operator. 
     Some embodiments of the multi-operational land drone may implement an electric power system to aid in reducing the amount of pollution produced by large machinery typically used in agricultural and other settings. For example, the multi-operational land drone may employ an electric motor for propulsion, control of implements and other attachments, and sensor power to the multi-operational land drone. 
     Some embodiments of the multi-operational land drone may employ one or more batteries as part of the electric power system. The batteries may be located generally near the ground in the multi-operational land drone which may lower the center of gravity. In some embodiments, the lower center of gravity may make the multi-operational land drone more stable in uneven terrain and in high gradient terrain. When used in conjunction with the remote operation modes, the multi-operational land drone may be capable of navigating terrain that may have been unworkable with conventional heavy machinery and similar equipment. The increased maneuverability of the multi-operational land drone may contribute to a greater amount of arable land that was previously unusable which may result in an increased production such as crop yield. 
     In addition, tractors lacking in traction control may spin wheels or otherwise struggle with traction in certain circumstances. In such circumstances, spinning and/or sliding wheels may cause damage to the soil and terrain, including soil compaction, erosion, and damage to plants. Further, tractors may not be capable of adjusting the amount of power delivered to axles and/or wheels to enable the tractor to be better suited in various operating environments. 
     In some embodiments of the present disclosure, a tractor (e.g., the multi-operational land drone) may include a variable powertrain that may be capable of adjustment without operator input. For example, the powertrain control system may obtain sensor data that may provide information about an environment in which the tractor is operating. In these or other embodiments, the powertrain control system may adjust the tractor&#39;s powertrain based on the obtained sensor data. The adjustment may improve the tractor&#39;s performance in the environment. Further, the powertrain control system may use iterations of sensor data to determine different powertrain settings for the tractor&#39;s use in various environments and may cause adjustment of the powertrain settings to a particular state prior to entering a particular environment that corresponds to the particular state. 
     In some embodiments of the present disclosure, the powertrain control system may include traction sensing, traction control, and automatic transitions between powertrain options. In some embodiments, a tractor that automatically switches powertrain modes may reduce the amount of soil and terrain damage by limiting the amount of spinning and/or sliding. Further, automatic transitioning may provide power to the axles and/or wheels in such circumstances that may improve traction and/or stability of the tractor. In some embodiments, a variable powertrain tractor may also reduce energy consumption by limiting the amount of power used by the powertrain when environmental conditions may not warrant additional power. 
     In the present disclosure, the term “tractor” may refer to an agricultural tractor and/or other power equipment or vehicles that may be used in an agricultural setting. Alternatively or additionally, the term “tractor” may include a power vehicle that may be configured to support and operate an implement, which may be used in the agricultural setting or any other applicable setting. Further, in some embodiments, the tractor may be a multi-operational land drone, such as described in the present disclosure. 
     Further, while discussed in primarily an agricultural setting, some embodiments of the present disclosure may be used in other settings, such as mining, construction, and/or other locales where large machinery may be beneficial and the like and may be scaled for different environments such as personal home use and industrial, large-scale use. Additionally, the examples of the present disclosure may refer to a tractor including two axles and/or four wheels. However, the number of axles and/or wheels may be greater while still implementing the embodiments of the present disclosure. 
     Further, it will be understood that although described generally in the singular, the multi-operational land drone may be paired with other multi-operational land drones such as in a fleet, where the multi-operational land drones may be configured to communicate with one another. In addition, the principles of the present disclosure are not limited to multi-operational land drones. It will be understood that, in light of the present disclosure, the multi-operational land drone disclosed herein can be successfully used in connection with other types of automatable land vehicles. 
       FIG. 1  is a block diagram of an example system  100  that includes a multi-operational land drone  102  (“land drone  102 ”), in accordance with at least one embodiment described in the present disclosure. The system  100  may include the land drone  102 , one or more electric motors  110 , one or more batteries  120 , sensors  130 , a removeable dashboard  140 , and implements  150 . The batteries  120  may include battery controllers  122 . The removeable dashboard  140  may include a joystick  142  and may be configured to receive operator input  144  either directly or via the joystick  142 . 
     In some embodiments, a primary electric motor may be included in the one or more electric motors  110  (and hereinafter referred to with element  110 ) and may be used in the propulsion of the land drone  102 . In some embodiments, individual wheels of the land drone  102  may include one or more electric motors  110  associated therewith. For example, in instances in which the land drone  102  includes four wheels, an electric motor  110  may be attached and configured to operate each of the four wheels. In some embodiments, the one or more electric motors  110  associated with the wheels may be configured to operate in different capacities, including varying amounts of power delivered to each wheel. For example, in instances in which one or more wheels are slipping, the amount of power delivered by the one or more electric motors  110  associated with the one or more slipping wheels may be adjusted and the amount of power delivered by the one or more electric motors  110  associated with the one or more non-slipping wheels may be adjusted, such that the amount of slipping in the wheels may be reduced. For example, in some embodiments, the power may be adjusted such as described below with respect to  FIG. 2   
     In some embodiments, one or more implements  150  may be attached to and/or used with the land drone  102  and may include an associated electric motor  110 . For example, a mower attached to the land drone  102  may include an electric motor  110  configured to power the blades of the mower. Alternatively or additionally, the implements  150  of the land drone  102  may include more than one associated electric motor  110 . For example, a sprayer attached to the land drone  102  may include a first electric motor  110  to adjust a nozzle direction and a second electric motor  110  to power the pump used to spray. 
     In some embodiments, the primary electric motor  110  may provide power to one or more implements connected to the land drone  102 . Alternatively or additionally, the primary electric motor  110  may be configured to provide power to other systems included in the land drone  102 . For example, the primary electric motor  110  may be configured to provide power to the steering system, the braking system, sensors  130  attached to the land drone  102 , auxiliary devices and systems, etc. 
     In some embodiments, the primary electric motor  110  may receive electrical energy from one or more batteries  120 . For example, the one or more batteries  120  may be arranged in series and/or parallel which may produce a voltage and current that may be used by the primary electric motor  110 . Alternatively or additionally, the land drone  102  may include a single, high-capacity battery  120 . For example, the land drone  102  may include an electric vehicle battery (EVB)  120  that may be designed for high capacity uses, such as powering the primary electric motor  110 , the one or more electric motors  110  associated with the one or more wheels, and/or the one or more electric motors  110  associated with the one or more implements  150 . 
     In some embodiments, the one or more batteries  120  may be configured to provide power to all of the one or more electric motors  110 . For example, the one or more batteries  120  may jointly provide power to the primary electric motor  110 , the one or more electric motors  110  associated with the one or more wheels, and the one or more electric motors  110  associated with the one or more implements  150 . Alternatively or additionally, the one or more batteries  120  may be associated with distinct electric motors  110 . For example, a first battery of the one or more batteries  120  may be associated with a first electric motor  110  associated with the one or more wheels, a second battery of the one or more batteries  120  may be associated with a second electric motor  110  associated with the one or more wheels, and so forth. Alternatively or additionally, the one or more batteries  120  may be arranged and/or combined such that more than one battery of the one or more batteries  120  may be configured to power a single electric motor  110 . For example, a first set of two or more batteries  120  may be combined to provide power to a first electric motor  110  associated with the one or more implements  150 , a second set of two or more batteries  120  may be combined to provide power to a second electric motor  110  associated with the one or more wheels, and so forth. 
     In some embodiments, the one or more batteries  120  may include rechargeable materials which may include lithium-ion batteries, lithium polymer batteries, sodium nickel chloride batteries, or other suitable rechargeable battery types for electric vehicles. Alternatively or additionally, the primary electric motor  110  may receive electrical energy from a photovoltaic system configured to convert solar energy into electrical energy, or a combination of the two sources. 
     In some embodiments, the one or more batteries  120  may include one or more battery controllers  122 . For example, the number of battery controllers  122  may be equal to the number of batteries  120 , such that each battery controller  122  is associated with a battery  120 . Alternatively or additionally, one battery controller  122  may be associated with the one or more batteries  120 . In some embodiments, the one or more battery controllers  122  may be configured to monitor and/or control the charge and discharge of the one or more batteries  120 . For example, the one or more battery controllers  122  may limit the rate that the one or more batteries  120  charge and/or discharge which may improve the longevity and/or health of the one or more batteries  120 . In some embodiments, the one or more battery controllers  122  may monitor the status of the one or more batteries  120 . For example, the one or more battery controllers  122  may monitor a current charge capacity, a maximum charge capacity, a charging temperature, an operating temperature, and/or other battery status indicators. 
     In some embodiments, the one or more battery controllers  122  may be configured to disable the corresponding batteries  120 . For example, in instances in which the one or more batteries  120  operating temperature exceeds a threshold, the one or more battery controllers  122  may disable the one or more batteries  120  which may reduce the chance of damage to the one or more batteries  120  and/or nearby people including the operator. In some embodiments, the operation of the battery controllers  122  may be performed by a computing system, such as the computing system  302  of  FIG. 3 . 
     In some embodiments, the one or more batteries  120  may be charged by connecting to one or more of an electrical outlet, a photovoltaic system, regenerative braking, and/or other mechanisms. In these and other embodiments, the one or more batteries  120  may receive electrical energy from one source or any combination of sources. In some embodiments, the one or more batteries  120  may be configured to quickly recharge. For example, when connected to an outlet, the one or more batteries  120  may charge approximately 80 percent of its total capacity in approximately 30 minutes. In some embodiments, the one or more batteries  120  may be removeable and/or replaceable in instances in which the one or more batteries  120  becomes damaged or defective. 
     In some embodiments, the one or more batteries  120  may contribute to the stability of the land drone  102 . For example, the one or more batteries  120  may be attached to the bottom of the chassis of the land drone  102 . In instances in which the one or more batteries  120  are attached to a lower portion of the land drone  102 , the weight of the one or more batteries  120  may contribute to a low center of gravity for the land drone  102 . In some embodiments, the land drone  102  may include a small ground clearance that may contribute to a low center of gravity. In some embodiments, the land drone  102  may include a wide track and/or a long wheelbase that may contribute to the stability to the land drone  102 . In some embodiments, the land drone  102  may support more than two wheels per axle which may contribute to the stability thereof. In these and other embodiments, various combinations of battery placement, ground clearance, track width, wheelbase length, and number of wheels may be employed to modify the center of gravity and/or the stability of the land drone  102 , which may enable the land drone  102  to traverse land that may have been previously inaccessible. 
     In some embodiments, the land drone  102  may include one or more sensors  130  configured to provide details regarding various aspects of the land drone  102  systems and the environment in which it is located, which may aid navigating the land drone  102 . For example, the land drone  102  may incorporate such sensors  130  including, but not limited to digital cameras, lidar, radar, accelerometers, gyroscopes, GPS, and/or other sensors and systems. Further examples of the sensors  130  may include the sensors described below with respect to  FIG. 2 . 
     In some embodiments, the land drone  102  may include multiple modes of operation. The modes of operation may include manual operation mode and remote operation modes. In some embodiments, manual operation mode may be configured to receive all control and input from the operator  144  presently operating the land drone  102 . 
     In some embodiments, the land drone  102  may detect, such as by the one or more sensors  130  included therein, that a current operating environment may be hazardous to the operator. In instances where a hazardous operating environment is detected, the land drone  102  may provide an indication to the operator that the operating environment is hazardous for operation, such as by the removeable dashboard  140  as described below. Alternatively or additionally, the land drone  102  may cease to operate if an operator is detected on the land drone  102  in a hazardous environment. A hazardous environment may include steep slopes that may be likely to cause instability, low hanging tree branches or other obstacles, extreme hot or cold temperatures, and/or other similar conditions. 
     In some embodiments, remote operation modes may enable the operator to be removed from the proximity of the land drone  102 , including physically contact with the land drone  102  such as during operation thereof. In some embodiments, the remote operation modes may include line-of-sight remote control mode, teleoperation control mode, and autonomous navigation mode. 
     In some embodiments, line-of-sight remote control mode may include control of the land drone  102  while still within sight of the operator. For example, in line-of-sight remote control mode, the operator may determine the movements of the land drone  102  based on the operator&#39;s perception of the environment around the land drone  102 . In line-of-sight remote control mode, the land drone  102  may operate analogously to an RC car with the operator using a controller. 
     In some embodiments, teleoperation control mode may include remote control by the operator but may also include operations without a line-of-sight to the drone  102 . For example, the land drone  102  may include sensors  130  such as digital cameras which may deliver a video feed to a controller the operator is using. In such circumstances, the operator may operate the land drone  102  in view of the perceived surroundings as viewed through the video feed. In teleoperation control mode, the operator may be capable of operating the land drone  102  at a greater range than line-of-sight remote control mode as the land drone  102  may operate without a line-of-sight. 
     In some embodiments, autonomous navigation mode may include hands-off operation of the line-of-sight remote control mode. For example, in autonomous navigation mode, the land drone  102  may be enabled to move and operate without input from the operator  144 . 
     In some embodiments, the land drone  102  may seamlessly switch between the remote operation modes in addition to switching from manual operation mode to any of the remote operation modes. In these and other embodiments, the mode of operation may be determined by the operator. Alternatively or additionally, the land drone  102  may be configured to automatically switch between modes. For example, the land drone  102  may switch from line-of-sight remote control mode to teleoperation control mode in instances when the land drone  102  determines it is too far from the operator. 
     In some embodiments, the remote operation modes of the land drone  102  may be controlled by a removable dashboard  140 . In some embodiments, the operation of the removeable dashboard  140  may be performed by a computing system, such as the computing system  302  of  FIG. 3 . In some embodiments, the removable dashboard  140  may be an electronic device. The removeable dashboard  140  may be a custom electronic device configured to operate with the land drone  102 . Alternatively or additionally, the removeable dashboard  140  may include a mobile device such as a mobile phone or tablet, which may be configured to interface with the land drone  102 . In some embodiments, the removeable dashboard  140  may include multiple electronic devices, each configured to interact with each other and the land drone  102 , any of which may be configured to monitor and control the land drone  102 . Alternatively or additionally, one electronic device may be designated as a primary device of the removeable dashboard  140  and additional devices may be configured to communicate with the primary device to monitor and control the land drone  102 . 
     The removable dashboard  140  may be configured to dock with the land drone  102 . In the docked configuration, the removable dashboard  140  may be configured to provide the operator with details related to various statuses of the land drone  102 . Alternatively or additionally, the removeable dashboard  140  may be configured to provide the operator with the various statuses in an undocked and/or remote mode. 
     In some embodiments, the removable dashboard  140  may include a GUI for displaying the various statuses and modes of operation. For example, the removable dashboard  140  may provide a display of various statuses and modes of operation of the land drone  102  including, but not limited to, current speed, current engine RPM, power takeoff operation, power takeoff RPM, battery life (as a percentage of total battery life), estimated remaining operational time, performance mode, steering mode, crop view mode, hydraulics mode, wheel drive mode, and/or a differential mode. 
     In some embodiments, the removeable dashboard  140  may be configured to receive input from the operator  144 . The removeable dashboard  140  may be configured to receive input in a docked configuration or an undocked configuration. In some embodiments, input from the operator  144  may be in conjunction with setting limitations on the operation and performance of the land drone  102 . In some embodiments, the removeable dashboard  140  may be configured to receive operational constraints. For example, the input from the operator  144  may set a maximum braking amount, a maximum acceleration amount, a maximum operating RPM, a maximum speed, a control sensitivity variable (used in conjunction with remote operations as described below), a steering sensitivity variable, and/or a float sensitivity variable. In some embodiments, in instances in which input from the operator  144  is not provided, a default variable may be used until input from the operator  144  is submitted to change the default value. 
     In some embodiments, the removeable dashboard  140  may be configured to communicate with other electronic devices. In instances in which the removeable dashboard  140  is communicating with other electronic devices, the communications may occur via cellular communication, electromagnetic radiation including radio waves, Wi-Fi, WiMAX, Bluetooth®, and/or similar wireless communication channels. In some embodiments, the other connected electronic devices may be configured to send instructions and/or controls to the removeable dashboard  140 , which may control the land drone  102 . Alternatively or additionally, the other connected electronic devices may be restricted from communicating with the removeable dashboard  140  unless they are a recognized device and/or have been granted permission to access the land drone  102  via the removeable dashboard  140 . 
     In some embodiments, the removeable dashboard  140  may be configured to receive input from the operator  144  to transition the land drone  102  from manual operations to remote operation modes. In instances in which the operator selects line-of-sight remote control mode from the status page of the GUI, the removeable dashboard  140  may transition from the GUI display to a controller display, and the removeable dashboard may become the controller for the land drone  102  in line-of-sight remote control mode. Alternatively or additionally, the operator may select line-of-sight remote control mode while in teleoperation control mode or in autonomous navigation mode which may transition the removeable dashboard from either of the teleoperation control display or the autonomous navigation display to the line-of-sight remote control display. 
     In some embodiments, in the line-of-sight remote control mode, the removeable dashboard  140  may provide one or more digital joysticks  142  configured to receive input from the operator  144  to control the land drone  102 . The one or more digital joysticks  142  may be patterned after physical joysticks that may be located on and used in conjunction with the land drone  102 . In some embodiments, the removeable dashboard  140  may include a digital movement control joystick  142  with at least four directions, that when pressed, move the land drone  102  in the direction the digital movement control joystick  142  is pressed. For example, when the operator presses forward on the digital movement control joystick  142  displayed on the removeable dashboard  140 , the land drone  102  may travel in a forward direction until the digital movement control joystick  142  is no longer pressed. 
     In some embodiments, the removeable dashboard  140  in line-of-sight remote control mode may include a second joystick  142  configured to operate an implement  150  attached to the land drone  102 . Controls for the second joystick  142  may be analogous to the movement control joystick  142 . Alternatively or additionally, the second joystick  142  may include movements such as raise and/or lower in order to be better suited to operate and control an attached implement  150 . 
     In some embodiments, the removeable dashboard  140  in line-of-sight remote control mode may continue to display various statuses of the land drone  102  in addition to the one or more digital joysticks  142 . 
     In some embodiments, the removeable dashboard  140  may be configured to detect or calculate a distance to drone value that may include an approximate distance between the removeable dashboard  140  and the land drone  102 . In some embodiments, the distance to drone value may be used to determine when the land drone  102  is too far from the operator to continue in line-of-sight remote control mode. For example, the land drone  102  may be configured to stop operation when the distance to drone value becomes greater than a threshold. 
     In some embodiments, the threshold may be a default threshold which may include a predetermined safe operational distance. For example, a default threshold may include up to 100 meters between the land drone  102  and the removeable dashboard  140 . In some embodiments, the default threshold may vary with the time of day and/or the amount of light available. For example, in full daylight, the threshold may be approximately 100 meters. In lowlight settings, the threshold may be reduced, such as approximately 15 meters. In some embodiments, the threshold may be a continuum between full light settings and lowlight settings. In some embodiments, the threshold may vary with operator. For example, an operator may have a profile (e.g., as described below) that may assign the threshold to the operator&#39;s account. For example, a new operator or an operator with diminished eyesight may have a smaller threshold than an experienced user or a user with 10/20 vision. 
     In some embodiments, the land drone  102  may cease operations when the distance to drone value exceeds the threshold. Alternatively or additionally, the land drone  102  may transition from line-of-sight remote control mode to another autonomous mode, such as teleoperation control mode or autonomous navigation mode. 
     In instances in which the operator selects teleoperation control mode from the status page of the GUI, or the land drone  102  transitions to teleoperation control mode, the removeable dashboard  140  may transition from the GUI display to a controller display, and the removeable dashboard may become the controller for the land drone  102  in teleoperation control mode. Alternatively or additionally, the operator may select teleoperation control mode while in line-of-sight remote control mode or in autonomous navigation mode which may transition the removeable dashboard from either of the line-of-sight remote control display or the autonomous navigation display to the teleoperation control display. 
     In some embodiments, the teleoperation control mode may include one or more digital joysticks  142 , which may be analogous to the digital joysticks  142  described in relation to the line-of-sight remote control mode. Alternatively or additionally, the one or more digital joysticks  142  may operate to control the land drone  102  analogously to the movement and control described in relation to the line-of-sight remote control mode. 
     In some embodiments, the removeable dashboard  140  in teleoperation control mode may display one or more video feeds. The one or more video feeds may be provided from one or more sensors  130  such as one or more digital cameras attached to the land drone  102 . In some embodiments, the video feeds may provide a visual indication of the surroundings of the land drone  102 . Alternatively or additionally, the digital cameras attached to the land drone  102  may be configured to be controlled via the removeable dashboard in teleoperation control mode. For example, the operator may pan, tilt, and/or zoom the digital cameras using an interface on the teleoperation control display on the removeable dashboard  140 . 
     In some embodiments, the removeable dashboard  140  in teleoperation control mode may continue to display various statuses of the land drone  102  in addition to the one or more digital joysticks  142 . Alternatively or additionally, the various statuses may be displayed in a reduced and/or compact size to accommodate the one or more video feeds displayed as part of the teleoperation control mode. 
     In instances in which the operator selects autonomous navigation mode from the status page of the GUI, or the land drone  102  transitions to autonomous navigation mode, the removeable dashboard  140  may transition from the GUI display to an autonomous navigation display, where the display may provide the various statuses of the land drone  102 . Alternatively or additionally, the operator may select autonomous navigation mode while in line-of-sight remote control mode or in teleoperation control mode which may transition the removeable dashboard  140  from either of the line-of-sight remote control display or the teleoperation control display to the autonomous navigation display. 
     In some embodiments, the removeable dashboard  140  in autonomous navigation mode may provide the various statuses of the land drone  102 , as described above. Alternatively or additionally, the removeable dashboard  140  in autonomous navigation mode may display one or more video feeds, analogous to the video feeds of the teleoperation control mode. In instances in which one or more video feeds are displayed in association with autonomous navigation mode, the digital cameras attached to the land drone  102  may be configured to be controlled via the removeable dashboard  140 . 
     In some embodiments, the display of the removeable dashboard  140  in autonomous navigation mode may be altered and/or arranged according to input from the operator  144 . For example, the operator may desire to see one video feed, the current speed, and the battery life of the land drone  102  and the operator may arrange the three displays in any configuration. Alternatively or additionally, the operator may add and/or remove additional displays as desired. 
     In some embodiments, the removeable dashboard  140  may request a user sign in on the removeable dashboard  140  prior to becoming the operator of the land drone  102 . In these and other embodiments, some or all of the features provided by the removeable dashboard  140  may be restricted to authorized profiles and/or accounts. For example, a new operator&#39;s account may be limited to manual operation mode, and none of the remote operation modes. In the prior example, the new operator may acquire additional training, after which, the profile may be granted additional permissions, such as the option to operate the land drone  102  in line-of-sight remote control mode. In general, various modes of operation may be enabled or restricted with an individual profile. 
     In some embodiments, various settings and display arrangements of the removeable dashboard  140  may be saved and/or stored with the active profile during which changes were made. In these and other embodiments, new profiles may include a default layout, subject to change by the new user, which may include determined and location of displayed statuses, video feeds (as applicable), default operational constraints, etc. 
     In some circumstances, some embodiments of the present disclosure may enable the land drone  102  to operate similarly, and in analogous terrains and conditions as conventional machinery. For example, manual operation mode may include an operator riding on the land drone  102  while providing direct input thereto. 
     In some circumstances, example embodiments of the present disclosure may enable the land drone  102  to be operated in conditions and terrains that may have been previously unworkable. For example, the grade of a hill may be inclined at such an amount that driving machinery thereon would be unsafe or impossible. In such instances, the operator of the land drone  102  may dismount, take the removeable dashboard  140 , switch the mode to line-of-sight remote control mode, and proceed to continue operating the land drone  102  on the steep terrain. As discussed above, the land drone  102  may be capable of operation on steep terrain due to a low center of gravity, also discussed above, and use of the removeable dashboard  140  in line-of-sight remote control mode may also enable the operator to maintain safety while continuing operations. 
     In another example, extreme temperatures, or high winds may make it difficult for conventional machinery and/or operators to complete certain tasks. In such instances, the operator of the land drone  102  may take the removeable dashboard  140  to a safer location and enable teleoperations control mode. As discussed, teleoperations control mode may enable the operator to be remote from the land drone  102  while still performing the tasks and/or operations as though present with the land drone  102 . In such circumstances, the operator may be in a safer position and still maintain direct control over the land drone  102 , while maintaining an awareness of the surroundings of the land drone  102 . 
     In the preceding circumstances, the operator of the land drone  102  may also choose to enable autonomous navigation mode which may be capable of operations in those and other circumstances. While in autonomous navigation mode, the operator may be allowed to remain remote from the land drone  102  while the operations are performed in potentially hazardous scenarios. 
       FIG. 2  is a block diagram of an example powertrain control system  200  that may be associated with a tractor or other similar vehicle, in accordance with at least one embodiment described in the present disclosure. The powertrain control system  200  may include a powertrain control module  205 , one or more sensors  210 , a powertrain controller  230 , load balancing system  235 , and a land drone  240 . The land drone  102  of  FIG. 1  is an example of the land drone  240 . Additionally, although  FIG. 2  is described in the context of a land drone, the concepts may apply to a tractor or any other applicable vehicle or piece of machinery. 
     The land drone  240  may include a powertrain  245 . The powertrain  245  may include any suitable system, device, or component that may operate as a powertrain of the land drone  240  by converting power into movement by the land drone  240 . For example, the powertrain  245  may include one or more of an engine, a transmission, an electric motor, a driveshaft, differentials, axles, etc. 
     In some embodiments, the one or more sensors  210  of the powertrain control system  100  may include environmental sensors  215 . The environmental sensors  215  may be configured to detect an operating environment of the land drone  240 . For example, the environmental sensors  215  may be configured to detect current terrain conditions including a slope amount such as from hills or depressions, driving surface conditions including accumulated precipitation and soil conditions such as an amount of soil compaction, a moisture level, and/or other soil factors. Alternatively or additionally, the environmental sensors  215  may be configured to detect upcoming terrain conditions including a slope amount such as from hills or depressions, driving surface conditions including accumulated precipitation and soil conditions such as an amount of soil compaction, a moisture level, and/or other soil factors. In these and other embodiments, the powertrain control module  205  may be configured to obtain data produced by the environmental sensors  215 . 
     In these or other embodiments, the one or more sensors  210  may include operational sensors  220 . The operational sensors  220  may be configured to detect the handling and response of the land drone  240  to the operating environment. For example, the operational sensors  220  may be configured to detect slipping in the wheels of the tractor, the weight distribution of the land drone  240  including the amount of force exerted through each axle end and/or wheel, load distribution and usage characteristics associated with an attached implement, and/or other tractor conditions. In some embodiments, the operational sensors  220  may be configured to determine one or more characteristics associated with the attached implement, which characteristics may contribute to the dynamics, stability, and/or operation of the powertrain control system  200 . In these and other embodiments, the powertrain control module  205  may be configured to obtain data produced by the operational sensors  220 . In some embodiments, the environmental sensors  215  used in detecting the operating environment and the one or more operational sensors  220  used in detecting the handling and response of the land drone  240  to the operating environment may include the same or substantially the same sensors. 
     In some embodiments, the one or more operational sensors  220  may include cameras (which may include or be in addition to a digital camera  225 ), lidar, radar, accelerometers, gyroscopes, GPS, penetrometers, wheel speed sensors, force sensors, and/or other sensors configured to detect an operating environment and/or a tractor&#39;s response to the operating environment. For example, the operational sensors  220  of the one or more sensors  210  may detect the current grade, the future grade, positional data, soil consistency and/or hardness, wheel speed, tractor weight distribution, and/or other operating environment variables. 
     The powertrain control module  205  may include code and routines configured to enable a computing system to perform one or more operations. Additionally or alternatively, the powertrain control module  205  may be implemented using hardware including a processor, a microprocessor (e.g., to perform or control performance of one or more operations), a field-programmable gate array (FPGA), or an application-specific integrated circuit (ASIC). In some other instances, the powertrain control module  205  may be implemented using a combination of hardware and software. In the present disclosure, operations described as being performed by the powertrain control module  205  may include operations that the powertrain control module  205  may direct a corresponding system to perform. Further, although described separately in the present disclosure to ease explanation of different operations performed and roles, in some embodiments, one or more portions of the powertrain control module  205  may be combined or part of the same module. 
     In some embodiments, a land drone  240  with the powertrain control system  200  may include two-wheel drive (e.g., 2WD) and/or four-wheel drive (e.g., 4WD) powertrains  245  that may be variable based on a command received from the powertrain controller  230 , which may be configured to receive commands from the powertrain control module  205 . Alternatively or additionally, the powertrain  245  may include one or more motorized implements which may increase the number of drive wheels to a number greater than four. In these and other embodiments, the powertrain control module  205  may be configured to control the torque delivered to individual wheels (including those of the motorized implements) through the powertrain controller  230 . For example, in response to detected environmental conditions (e.g., from environmental data from the environmental sensors  215 ) and current operating conditions (e.g., from operational data from the operation sensors  220 ), the powertrain control module  205  may adjust the performance of each wheel as needed to improve traction, reduce terrain damage, and/or otherwise improve the performance and handling of the land drone  240 . 
     In some embodiments, the powertrain controller  230  may be configured to interface with the powertrain control module  205  and/or the land drone  240 , including the powertrain  245  thereof. For example, the powertrain controller  230  may be configured to receive input from the powertrain control module  205  that may be used by the powertrain controller  230  to direct operations and/or transitions of the powertrain  245 . Additionally or alternatively, the powertrain control module  205  may be integrated with the powertrain controller  230 . 
     In some embodiments, the powertrain controller  230  may include one or more motors, actuators, and/or other mechanical devices configured to operate the powertrain  245 . For example, in instances in which the powertrain  245  is in 2WD and the powertrain control module  205  determines the powertrain should transition to 4WD, the powertrain controller  230  may cause an actuator of the land drone  240  to transition the powertrain  245  from 2WD to 4WD. 
     In some embodiments, the powertrain control module  205  may be configured to receive operator input to direct the powertrain controller  230  to switch the powertrain  245  from 2WD to 4WD and vice versa (e.g., transitioning between powertrains). Alternatively or additionally, the powertrain control module  205  may respond to current operating conditions based on input from the one or more sensors  210  (e.g., data from the environmental sensors  215 , data from the operational sensors  220 , and/or images from the digital camera  225 ) to command the powertrain controller  230  to automatically transition the powertrain  245  to a different powertrain. For example, in instances in which the powertrain control module  205  receives data from the one or more sensors  210  that indicate a wet and/or slippery driving surface, the powertrain control module  205  may provide an output to the powertrain controller  230  to automatically cause powertrain  245  to transition from 2WD to 4WD to improve traction and/or control of the land drone  240 . Alternatively or additionally, the powertrain control module  205  may predictively command the powertrain controller  230  to transition the powertrain  245  between the various powertrains based on input from the one or more sensors  210  and/or based on learned scenarios which may have previously caused the powertrain control module  205  to transition the powertrain  245  between powertrains. For example, in instances in which the one or more sensors  210 , such as the digital camera  225 , lidar, or radar, detect an upcoming grade, the powertrain control module  205  may automatically direct the powertrain controller  230  to transition the powertrain  245  from 2WD to 4WD in anticipation of decreased traction. 
     In some embodiments, the powertrain control module  205  may be configured to receive input from an attached implement. In some embodiments, the implement inputs may be determined using the operational sensors  220 . For example, the operational sensors  220  may determine an amount of resistance contributed by the attached implement to the land drone  240 , the load contributed by the attached implement to the land drone  240 , the distribution of the load relative to the land drone  240 , etc. In some embodiments, the implement inputs may be dynamic and vary in time. For example, a harrow used in a first field that includes loamy soil may contribute a resistance to the land drone  240  that may differ from a harrow used in a second field that includes clay-like soil. In another example, an attached and retracted mower may include a load and load distribution profile that may differ from an attached and extended mower. In some embodiments, the implement inputs may be static and/or associated with a particular implement. For example, a first mower may be larger than a second mower and the first mower may include a different load and load distribution profile than the second mower. In these and other embodiments, the powertrain control module  205  may adjust the output to the powertrain controller  230  to control the powertrain  245  in response to the implement inputs which may improve the traction and/or performance of the land drone  240 . 
     In some embodiments, the powertrain  245  may include two or more independently controlled axles. In some embodiments, a motor may be configured to provide power to one or more of the axles. For example, the land drone  240  may be configured to deliver power to either a front axle or a rear axle in 2WD mode, or to both the front axle and the rear axle in 4WD mode. Alternatively or additionally, powertrain  240  of the land drone  240  may include motors disposed at each axle end such that each wheel may be individually controlled. For example, in instances in which the powertrain control module  205  detects the left, rear wheel slipping relative to the other wheels (e.g., based on data received from one or more of the sensors  210 ), the powertrain control module  205  may adjust the power delivered to the left, rear wheel which may limit wheel slipping and maintain substantially similar motion to the other wheels. In some embodiments, the powertrain control module  205  may determine that the land drone  240  may benefit from different amounts of power being delivered to each wheel of the land drone  240 , such that the variable power delivered to each wheel may result in substantially similar motion in each of the four wheels of the land drone  240 . 
     In some embodiments, the powertrain control module  205  may be configured to store environmental and/or operational conditions (e.g., as detected by one or more of the sensors  210 ) to predict future operational responses for the powertrain control system  200 , which may include the powertrain control module  205  commanding the powertrain controller  230  to transition the powertrain  245  of the land drone  240 . 
     For example, the powertrain control module  205  may be configured to store detected grade and surface conditions. Alternatively or additionally, the powertrain control module  205  may be configured to associate the detected grade and surface conditions with positional data. In some embodiments, the powertrain control module  205  may be configured to predict future operational responses of the powertrain system  205 , based on the stored detected grade and surface conditions and the positional data associated therewith 
     For example, in instances in which the powertrain control module  205  determines the grade may be steep at a first position (e.g., based on the stored grade and surface conditions associated with the first position), the powertrain control module  205  may direct the powertrain controller  230  to transition the powertrain  245  from 2WD to 4WD shortly prior to or upon reaching the first position. 
     In another example, in instances in which the powertrain control module  205  determines the soil may be soft at a second position based on environmental data obtained from the environmental sensors  215  that is associated with the second position (such that the soft soil may be likely to cause slipping in the wheels of the land drone  240 ), the powertrain control module  205  may direct the powertrain controller  230  to transition the powertrain  245  from 2WD to 4WD prior to reaching the second position. In some embodiments, the powertrain control module  205  may direct the powertrain controller  230  to transition the powertrain  245  between powertrains in instances when adverse operating conditions are present. Adverse operating conditions may include soft soil and other soft terrain, a grade of 5% or greater, precipitation and other potentially slippery surfaces, obstacles including tall vegetation, dense vegetation, and/or steps, and/or other conditions where the land drone  240  traction may be diminished. 
     In some embodiments, the powertrain control module  205  may direct the powertrain controller  230  to transition the powertrain  245  from 4WD to 2WD when adverse operating conditions are not present, which may reduce the amount of resources used by the powertrain control system  200 . For example, in instances in which the powertrain control module  205  determines that the land drone  240  has moved from soft soil to a more compact driving surface (e.g., based on received input from one or more of the sensors  210 ), the powertrain control module  205  may direct the powertrain controller  230  to transition the powertrain  245  from 4WD to 2WD. In another example, in instances in which the powertrain control module  205  determines the land drone  240  has moved from a surface with a grade greater than 5% to a substantially horizontal surface, the powertrain control module  205  may direct the powertrain controller  230  to transition the powertrain  245  from 4WD to 2WD. 
     In some embodiments, the powertrain control module  205  may yield to operator input. For example, in instances in which the powertrain control module  205  determines that the powertrain  245  should be 2WD but the operator manually selects 4WD, the powertrain control module  205  may not attempt to change the powertrain  245  from 4WD. The powertrain control module  205  may not attempt to automatically adjust the powertrain  245  until the operator provides an input to reenable the powertrain control module  205  and/or after a period of time has elapsed. For example, after the operator has overridden the powertrain control module  205 , the powertrain control module  205  may not attempt to adjust the powertrain  245  for one hour. 
     In some embodiments, the powertrain control module  205  may include software and/or hardware components capable of implementing artificial intelligence (AI) and/or machine learning. Alternatively or additionally, the powertrain control module  205  may transmit sensor data from the one or more sensors  210  to the land drone  240  and/or a remote system which land drone  240  and/or remote system may include the software and/or hardware components capable of implementing the AI and/or machine learning, which may be trained to determine which settings may work better than others based on certain conditions indicated by sensor input. 
     In some embodiments, the AI and/or machine learning may aggregate operator responses relative to the powertrain control system  200  and may relate the aggregated responses to detected operating environments and may make determinations about operations of the land drone  240  therefrom. For example, the AI and/or machine learning may associate the operator switching the powertrain  245  from 2WD to 4WD at a first location on multiple occasions and may direct the powertrain controller  230  to automatically switch the powertrain  245  from 2WD to 4WD in instances in which the land drone  240  nears the first location in the future. 
     In some embodiments, the AI and/or machine learning system may be integrated with the powertrain control module  205 , such that the powertrain control module  205  may perform some or all of the functions of the AI and/or machine learning system. Alternatively or additionally, the AI and/or machine learning may be separate and/or distinct from the powertrain control module  205  and may be configured to communicate with the powertrain control module  205 . For example, in instances in which the AI and/or machine learning is separate from the powertrain control module  205 , the operation of the AI and/or machine learning of the powertrain system  205  may be performed by a computing system, such as the computing system  202  of  FIG. 2 . 
     In some embodiments, the powertrain control module  205  may be configured to load balance weight on the land drone  240 . In some embodiments, the load balancing controller  235  may be configured to interface with the powertrain control module  205  and/or the land drone  240 , such as one or more moveable weights on the land drone  240 . The powertrain control module  205  may be configured to command the load balancing controller  235  to redistribute the one or more weights which may contribute to better control of the land drone  240  and less damage to the terrain in adverse operating conditions. For example, in instances where the rear wheels of the land drone  240  are slipping, the powertrain control module  205  may direct the load balancing controller  235  to redistribute weight on the land drone  240  toward the rear wheels. The load balancing controller  235  may be implemented in conjunction with or in addition to the powertrain controller  230  transitioning between powertrains. In some embodiments, the land drone  240  may include one or more weights disposed on or in the land drone  240  that may be controlled by the load balancing controller  235 . For example, in instances in which the land drone  240  is an electric vehicle, the battery may be capable of moving forward, backward, to the left, to the right, and/or combinations thereof to contribute to load balancing as directed by the load balancing controller  235 . 
     In some embodiments, the load balancing controller  235  may be configured to adjust the one or more moveable weights on the land drone  240  to improve the stability of the land drone  240 . In some embodiments, the load balancing controller  235  may obtain operational data from the operational sensors  220  to determine instances in which load balancing for land drone  240  stability may be implemented. For example, in instances in which the operational sensors  220  determine the land drone  240  is approaching a tipping point (e.g., driving on a steep incline), the load balancing controller  235  may direct one or more weights on the land drone  240  to move which may adjust the center of mass of the land drone  240  such that the land drone  240  is more stable and/or less likely to tip over. In some embodiments, the load balancing controller  235  may be configured to proactively readjust the one or more weights on the land drone  240  once a threshold stability metric has been exceeded. 
     In some embodiments, the one or more weights controlled by the load balancing controller  235  may include motors that may be capable of moving the weights. For example, the one or more weights may be caused by the load balancing controller  235  to be adjusted by an electronic system of the land drone  240 . In some embodiments, the one or more weights may be configured to move to help improve traction of the land drone  240  as needed. For example, in instances in which a land drone  240  is driving across the slope of a grade, the powertrain control module  205  may direct the load balancing controller  235  to cause the one or more weights to be adjusted to the uphill side of the land drone  240 , which may improve traction. In another example, in instances in which a land drone  240  is driving through soft soil and where the rear wheels are slipping, the powertrain control module  205  may direct the load balancing controller  235  to cause the one or more weights to be adjusted toward the rear of the land drone  240 , which may improve traction and may reduce damage to the soil. 
     In some embodiments, the load balancing system of the land drone  240  may include adjustable spring mechanisms, which may contribute to better control of the land drone  240  and may cause less damage to the terrain in adverse operating conditions. For example, in instances in which a land drone  240  is driving across the slope of a grade, the powertrain control module  205  may direct the load balancing controller  235  to cause the adjustable spring mechanisms on the uphill side of the land drone  240  to be loosened and the adjustable spring mechanisms on the downhill side of the land drone  240  to be stiffened which may contribute to greater stability of the land drone  240  and less damage to the terrain. The load balancing system of the land drone  240  may include the adjustable spring mechanisms in conjunction with or in addition to the powertrain control module  205  directing the transitions between powertrains and/or the powertrain control module  205  directing the redistribution of the one or more weights as part of the load balancing system. 
     In some embodiments, the powertrain control module  205  may direct the load balancing controller  235  to cause the adjustable spring mechanisms to be adjusted by an electronic system of the land drone  240 . For example, the powertrain control module  205  may direct the load balancing controller  235  to cause the adjustable spring mechanisms to be stiffened or loosened as needed to improve traction and/or stability of the land drone  240  which may help reduce damage to the soil. In some embodiments, the amount of adjustment directed by the powertrain control module  205  to the adjustable spring mechanisms may be determined based on data from the one or more sensors  210 , such as the operational sensors  220 . For example, in instances where the operational sensors  220  detect the land drone  240  is on a steep incline, the powertrain control module  205  may direct the load balancing controller  235  to cause the adjustable spring mechanisms to be stiffened and/or loosened more than instances where the land drone  240  is on a gradual incline. 
     In some embodiments, the powertrain control module  205  may be attached to an existing agricultural vehicle, such as a tractor. Alternative or additionally, the powertrain control module  205  may be incorporated with a future agricultural vehicle, such as an autonomous land drone. 
       FIG. 3  illustrates a block diagram of an example computing system  302 , according to at least one embodiment of the present disclosure. One or more of the computing system  302  may be included in a multi-operational land drone (e.g., the land drone  100  of  FIG. 1  and/or the land drone  102  of  FIG. 1 ) and may be configured to implement or direct one or more operations associated therewith. Additionally or alternatively, the computing system  302  may be included in and/or configured to implement or direct one or more operations associated with battery controllers and/or a removeable dashboard (e.g., the battery controllers  122  and/or the removeable dashboard  140  of  FIG. 1 ). The computing system  302  may include a processor  350 , a memory  352 , and a data storage  354 . The processor  350 , the memory  352 , and the data storage  354  may be communicatively coupled. 
     In general, the processor  350  may include any suitable special-purpose or general-purpose computer, computing entity, or processing device including various computer hardware or software modules and may be configured to execute instructions stored on any applicable computer-readable storage media. For example, the processor  350  may include a microprocessor, a microcontroller, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a Field-Programmable Gate Array (FPGA), or any other digital or analog circuitry configured to interpret and/or to execute program instructions and/or to process data. Although illustrated as a single processor in  FIG. 3 , the processor  350  may include any number of processors configured to, individually or collectively, perform or direct performance of any number of operations described in the present disclosure. Additionally, one or more of the processors may be present on one or more different electronic devices, such as different servers. 
     In some embodiments, the processor  350  may be configured to interpret and/or execute program instructions and/or process data stored in the memory  352 , the data storage  354 , or the memory  352  and the data storage  354 . In some embodiments, the processor  350  may fetch program instructions from the data storage  354  and load the program instructions in the memory  352 . After the program instructions are loaded into memory  352 , the processor  350  may execute the program instructions. In some embodiments, one or more of the modules described in the present disclosure may be stored as program instructions. 
     The memory  352  and the data storage  354  may include computer-readable storage media for carrying or having computer-executable instructions or data structures stored thereon. Such computer-readable storage media may include any available media that may be accessed by a general-purpose or special-purpose computer, such as the processor  350 . By way of example, and not limitation, such computer-readable storage media may include tangible or non-transitory computer-readable storage media including Random Access Memory (RAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory devices (e.g., solid state memory devices), or any other storage medium which may be used to carry or store particular program code in the form of computer-executable instructions or data structures and which may be accessed by a general-purpose or special-purpose computer. Combinations of the above may also be included within the scope of computer-readable storage media. Computer-executable instructions may include, for example, instructions and data configured to cause the processor  350  to perform a certain operation or group of operations. 
     Modifications, additions, or omissions may be made to the computing system  302  without departing from the scope of the present disclosure. For example, in some embodiments, the computing system  302  may include any number of other components that may not be explicitly illustrated or described. 
       FIG. 4  illustrates an example flowchart of an example method  400  of selecting an operating mode of a multi-operational land drone, described according to at least one embodiment of the present disclosure. The method  400  may be performed by any suitable system, apparatus, or device. For example, one or more of the operations of the method  400  may be performed by a land drone and/or a computing system included in the land drone. 
     At block  402 , an operating environment of a multi-operational land drone may be determined. For example, in some embodiments, sensor data such as that described above with respect to the sensors  130  of  FIG. 1  and/or the sensors  210  of  FIG. 2  may be obtained. Further, conditions about the environment such as those described above with respect to  FIGS. 1 and 2  may be determined based on the sensor data and may be examples of the different operating environments that may be encountered by the land drone. 
     At block  404 , an operating mode may be selected based on the determined operating environment. In some embodiments, the operating mode may be selected from a group of operating modes that includes a manual operating mode, a remote operating mode, and an autonomous operating mode. The manual mode may be such that the operator is physically present on the land drone and manually controlling the land drone while on the land drone, the remote operating mode may be such that the operator is not physically located on the land drone and is controlling the land drone via a control panel (e.g., the removeable dashboard of  FIG. 1 , and the autonomous operating mode may include the land drone autonomously performing one or more operations, with or without the operator being present. Further, the remote operating mode may include a line-of-sight mode or a teleoperation control mode. 
     Examples of selecting a certain operating mode include instances described above with respect to a hazard level of the operating environment (e.g., steepness of an incline, muddy conditions, icy conditions, etc.), proximity of the land drone to an operator in the operating environment, etc. 
     Modifications, additions, or omissions may be made to the method  400  without departing from the scope of the present disclosure. For example, the order of one or more of the operations described may vary than the order in which they were described or are illustrated. Further, each operation may include more or fewer operations than those described. For example, any number of the operations and concepts described above with respect to  FIG. 1 or 2  may be included in or incorporated by the method  400 . In addition, the delineation of the operations and elements is meant for explanatory purposes and is not meant to be limiting with respect to actual implementations. 
       FIG. 5  illustrates an example flowchart of an example method  500  of adjusting a powertrain of a vehicle (e.g., a multi-operational land drone, tractor, etc.), described according to at least one embodiment of the present disclosure. The method  500  may be performed by any suitable system, apparatus, or device. For example, one or more of the operations of the method  500  may be performed by a power train control module and/or a computing system. 
     At block  502 , an operating environment of the vehicle may be determined such as described above with respect to block  402  of  FIG. 4 . 
     At block  504 , a power train setting of the vehicle may be adjusted based on the determined operating environment. In some embodiments, the power train setting may include any of the modes or operations described above with respect to  FIG. 2 . Further, the determination as to which setting to adjust and/or the adjustment type may be as described above with  FIG. 2 . 
     In these or other embodiments, at block  506 , a load balance of the vehicle may be adjusted based on the determined operating environment. In some embodiments, the load balance adjustment may include any one or more of the operations described above with respect to  FIG. 2  in relation to load balancing. 
     Modifications, additions, or omissions may be made to the method  500  without departing from the scope of the present disclosure. For example, the order of one or more of the operations described may vary than the order in which they were described or are illustrated. Further, each operation may include more or fewer operations than those described. For example, any number of the operations and concepts described above with respect to  FIG. 1 or 2  may be included in or incorporated by the method  500 . In addition, the delineation of the operations and elements is meant for explanatory purposes and is not meant to be limiting with respect to actual implementations. 
     Terms used in the present disclosure and in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including, but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes, but is not limited to,” etc.). 
     Additionally, if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. 
     In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, etc.” or “one or more of A, B, and C, etc.” is used, in general such a construction is intended to include A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B, and C together, etc. 
     Further, any disjunctive word or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” should be understood to include the possibilities of “A” or “B” or “A and B.” This interpretation of the phrase “A or B” is still applicable even though the term “A and/or B” may be used at times to include the possibilities of “A” or “B” or “A and B.” All examples and conditional language recited in the present disclosure are intended for pedagogical objects to aid the reader in understanding the present disclosure and the concepts contributed by the inventor to furthering the art, and are to be construed as being without limitation to such specifically recited examples and conditions. Although embodiments of the present disclosure have been described in detail, various changes, substitutions, and alterations could be made hereto without departing from the spirit and scope of the present disclosure. Accordingly, the scope of the invention is intended to be defined only by the claims which follow.