Patent Publication Number: US-2012023884-A1

Title: Biomass handling and processing

Description:
REFERENCE TO RELATED CASES 
     The present application is based on and claims the priority of provisional applications Ser. No. 61/368,393 filed on Jul. 28, 2010, and Serial No. 61/429,841 filed on Jan. 5, 2011, the contents of which are hereby incorporated by reference in their entirety. 
    
    
     BACKGROUND 
     Biomass is a renewable energy source that comes from biological material. Some examples of biomass include, but are not limited to, corn, switchgrass, and sorghum. Biomass is commonly harvested utilizing a three-pass operation. In the first pass, the biomass (e.g. cornstalks) is cut in a swathing or chopping pass. In the second pass, the biomass is raked into a windrow, and in the third pass, the biomass is baled such that it can be more easily handled, transported, and stored. Once the biomass has been harvested, it can then be used as a renewable energy source. For example, biomass can be used to generate ethanol for use as a fuel, or biomass can be used to generate electricity through incineration. It should be noted however that biomass is not limited to any particular type of material or use, and that biomass can include any biological material that is used for any purpose. 
     SUMMARY 
     An aspect of the disclosure relates to handling and processing biomass. In one embodiment, a method includes cutting biomass, transferring the cut biomass to an auger, utilizing the auger to form a row of biomass, and baling the row of biomass. The biomass is optionally transferred from the auger to the baler utilizing one or more conveyors. Additionally, one or more cleaning steps may be performed to separate contaminants from the biomass. 
     In another embodiment, a biomass processing system includes a sickle, a pick-ups unit, and an auger. Biomass is cut by the sickle and transferred to the auger utilizing the pick-ups unit. The auger forms the biomass into a row. The row of biomass may then be transferred to a baler utilizing a conveyor. Systems also optionally include a rotor located between the pick-ups unit and the auger, and one or more grates that reduce contamination included with the biomass. The biomass is illustratively elevated from the ground such that the biomass does not contact the ground between the pick-ups unit and the baler. Furthermore, embodiments may include platforms that include caster wheels, floating wheels, hitches, and depth control sensors. 
     These and various other features and advantages that characterize the claimed embodiments will become apparent upon reading the following detailed description and upon reviewing the associated drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic diagram of a biomass processing system. 
         FIG. 2  is a flow diagram illustrating a method of processing biomass. 
         FIG. 3  is a side view of a biomass processing system having a conveyor. 
         FIG. 4  is a top down view of a biomass processing system platform. 
         FIG. 5  is a side view of a biomass processing system platform having an adjustable sickle. 
         FIG. 6  is a side view of a biomass processing system platform having a spring loaded shield. 
         FIG. 7  is a top down view of a biomass processing system with a baler. 
         FIG. 8  is a top down view of a biomass processing system with caster wheels. 
         FIG. 9  is a side view of a biomass processing system platform with caster wheels. 
         FIG. 10  is a side view of a biomass processing platform with a floating wheel. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the present disclosure include methods and equipment for handling and processing biomass. In one embodiment, biomass is harvested in a one-pass operation. The one-pass operation illustratively includes cutting the biomass with sickles, moving the cut biomass into a row using an auger, and baling the biomass. The one-pass operation may also include transferring the biomass from the auger to the baler utilizing a conveyor, and removing contaminants from the biomass using various methods such as, but not limited to, grates, rotors, and/or cleaning modules. Accordingly, at least some embodiments of the present disclosure may be advantageous in that they increase efficiency by reducing the number of passes in harvesting biomass and may also improve the quality of biomass by reducing the amount of contaminants (e.g. dirt) in the biomass. For example, by using a conveyor between an auger and a baler, the amount of contact the biomass has with the ground is reduced, and the biomass is less likely to pick-up additional contaminants. These and other features and advantages are described in greater detail below and shown in the accompanying figures. 
       FIG. 1  is a simplified schematic diagram of a system  100  for processing biomass. In one embodiment, system  100  is implemented utilizing a tractor or combine, and is used in cutting biomass (e.g. corn stalks) and processing the cut biomass into bales. System  100  illustratively includes a cutting module  102 , a pick-ups module  104 , an auger module  106 , a conveyor module  108 , one or more cleaning units  110 , and a baler  112 . Cutting module  102  includes a cutting mechanism that cuts biomass such that it can be collected. Cutting module  102  may include sickles or any other suitable cutting mechanism. Once the biomass has been cut, pick-ups module  104  transfers the biomass to an auger module  106 . Pick-ups module  104  may include a series of rotatable tynes, impellers, paddle type devices, or any other suitable transfer mechanism. Once the biomass is in auger module  106 , an auger or other transfer mechanism moves the biomass to the conveyor module  108 . 
     In an embodiment, conveyor module  108  transfers the biomass from the auger module  106  to the baler module  112  such that the biomass never touches the ground. In one particular embodiment, conveyor module  108  includes one or more belt conveyors. Embodiments are not however limited to any particular type of transfer mechanism. In at least some situations, the limited contact with the ground may be advantageous in that less contaminants (e.g. soil, etc.) are collected along with the biomass. For instance, some energy conversion processes may require or prefer less contaminants in their biomass. Certain embodiments of the present disclosure may help to collect biomass in such a manner to provide the biomass with the preferred reduced amounts of contaminants. 
     System  100  optionally includes one or more cleaning modules  110  along the conveyor module  108 . Cleaning modules  110  are used to further remove contaminants from the biomass as it is moved across the conveyor module  108 . In one embodiment, cleaning modules  110  project a fluid (e.g. air, nitrogen, water, cleaning solution, etc.) at the biomass to remove contaminants. Cleaning modules  110  are not however limited to any particular devices or methods of removing/reducing contaminants from biomass, and embodiments of cleaning modules  110  illustratively include any devices and/or methods for removing/reducing contaminants from biomass. 
     From conveyor  108 , the biomass is then moved to baler module  112 . Baler module  112  processes the biomass to form bales. Embodiments of the present disclosure are not limited to any particular type of baler and may include any baler (e.g. a self-propelled baler or a baler that is pulled). Additionally, some embodiments may not include a baler and may instead collect the biomass in a different manner. For instance, biomass may be moved from conveyor  108  to a storage/collection module. 
       FIG. 2  is a simplified process flow diagram illustrating a method  200  for processing biomass. At block  202 , the biomass is cut, for example, by using a sickle. At block  204 , the cut biomass is transferred to an auger. The biomass may be transferred to the auger using pick-ups or any other suitable equipment. At block  206 , the auger moves the biomass into a row. At block  208 , the biomass is moved from the auger to the baler using a conveyor, and at block  210 , the baler bales the biomass. Additionally, method  200  optionally includes one or more cleaning steps  212  to remove contaminants from the biomass. For instance, cleaning steps  212  may include utilizing grates, a rotor system, or a cleaning module (e.g. compressed air) to remove contaminants from the biomass. 
     Method  200  further optionally includes block  203  of receiving additional material  203 . The additional material  203  is illustratively any material other than biomass cut by the sickles that is transferred to the auger utilizing the pick-ups. For example, after a combine has harvested a crop (e.g. corn or grains), the field may have leaves, husks, shredded stalks, other plants, and may even have some of the harvested crop remaining in the field (e.g. loose unharvested ears or grains). Additionally, some crops, stalks, etc. may be on the ground due to being knocked down by weather conditions such as hail, wind, rain, etc. In an embodiment, the additional material  203  or at least a portion of the additional material  203  is collected along with the cut biomass and is eventually baled at block  210  along with the cut biomass. This may be advantageous in several respects. For instance, the additional material  203  that is collected may be useful as an additional source of renewable energy (e.g. the additional material  203  can be used to produce ethanol or electricity through incineration). The collection of the additional material  203  may also be useful in that it provides a cleaner field for establishing seed beds while leaving the cover necessary to control erosion. Accordingly, at least certain embodiments of the present disclosure collect additional material other than just the cut biomass. 
       FIG. 3  is a side view of one example of a biomass processing system. It should be noted that embodiments of the present disclosure are not limited to the particular example shown in  FIG. 3  and can include configurations different than that shown in the figure. In  FIG. 3 , the biomass processing system is implemented utilizing a four wheel drive articulated steering tractor  302 . In certain embodiments, four wheel drive articulated steering tractors may be useful in that they provide sufficient space underneath the tractor to include the conveyor. Additionally, embodiments may be implemented on a tractor, combine, etc. that has larger diameter tires (e.g. rice tires) to provide for sufficient space for the conveyor. Embodiments are not however limited to any particular type of implementation system (e.g. tractor, combine, etc.) and are illustratively implemented using any type of system. 
     In the embodiment shown in  FIG. 3 , a sickle  304  cuts biomass. The cut biomass is then transferred to an auger module  308  utilizing pick-ups  306 . Auger module  308  moves the cut biomass from the outer ends of the module towards the center of the module. From the center of the auger module  308 , the biomass is moved towards the conveyor  312 / 314  utilizing one or more transfer mechanisms  310 . Transfer mechanisms  310  may include pick-ups (e.g. tynes, impellers, paddles, etc.) or any other type of transfer mechanism. Additionally, as is shown in  FIG. 3 , the area in which the biomass is transferred from the auger to the conveyor may include one or more open areas or grates such that contaminants (e.g. soil) can be removed from the biomass by falling out of the biomass to the ground. 
     In the embodiment shown in  FIG. 3 , the conveyor includes multiple sections. Having multiple sections may be useful for allowing the conveyor to turn/bend with the system that it is attached to (e.g. an articulated tractor). Embodiments are not however limited to conveyors having multiple sections, and may also include conveyors having only one section. 
     In  FIG. 3 , the first conveyor section includes a top belt conveyor  312 , a bottom belt conveyor  314 , and a motor  316  (e.g. a hydraulic, electric, or pneumatic motor) that rotates bottom conveyor  314 . In one embodiment, such as in the one shown in  FIG. 3 , the distance between top belt conveyor  312  and bottom belt conveyor  314  decreases going from the front of the conveyor to the back of the conveyor. This decreasing distance may help to compress the biomass and to move it along the conveyor. 
     In an embodiment having multiple conveyor sections such as that shown in  FIG. 3 , a pivot point assembly  318  is illustratively placed in between the conveyor sections to allow the conveyor sections to turn/bend as needed (e.g. to turn/bend as an articulated steering tractor turns). Pivot point assembly  318  connects the adjacent conveyor sections while enabling the sections to rotate relative to one another. Additionally, as is shown in  FIG. 3 , conveyors may include an open area or grate between conveyor sections that enables for additional contaminants (e.g. soil) to be removed from the biomass. 
     In the embodiment shown in  FIG. 3 , the biomass is moved from the first conveyor section to the second conveyor section. The second conveyor section illustratively includes a top belt conveyor  320 , a bottom belt conveyor  322 , and a motor  324  (e.g. a hydraulic, electric, or pneumatic motor) that rotates the bottom belt conveyor  322 . In an embodiment, top belt conveyor  320  and bottom belt conveyor  322  are separated by an equal or approximately equal distance along the entire lengths of the conveyors. However, in another embodiment, the distance may vary along the length of the conveyors. For instance, the distance between the top conveyor  320  and bottom conveyor  322  may decrease going from the beginning of the conveyor to the end of the conveyor. This again may help compress the biomass and move the biomass along the conveyor. 
     From the second conveyor section, the biomass next moves to a force feed unit or final conveyor section. The final conveyor section is illustratively connected to a pivot point  334  (e.g. a tractor hitch pin) and is allowed to turn or rotate relative to the other conveyor sections. Additionally, as shown in  FIG. 3 , there may be an open area or grate between the final conveyor section and the second conveyor section that again allows for contaminants to fall out of the biomass. The final conveyor section illustratively includes a top belt conveyor  326 , a bottom belt conveyor  328 , and a motor  330  (e.g. a hydraulic, electric, or pneumatic motor) that rotates the bottom belt conveyor  328 . The top belt conveyor  326  and bottom belt conveyor  328  may be separated by a same or approximately same distance along the entire length of the belts, or the distance between the conveyors may be reduced going from the beginning of the conveyor section to the end to compress the biomass. It is also worth noting that the belts of conveyors  326  and  328  may include ridges for moving the biomass or may alternatively be smooth belts. The other conveyor belts may similarly be either smooth or have ridges. 
     From the force feed unit/final conveyor section, the biomass is moved to a baler (not shown in  FIG. 3 ). In one embodiment, a baler pick-ups  332  (e.g. rotatable tynes, impellers, or paddles) is used to move the biomass into the baler. Additionally, as shown in  FIG. 3 , there may be an open area or grate that allows for contaminants to fall out of the biomass before entering the baler. 
       FIG. 4  is a top down view of a front unit or platform  400  of a biomass processing system. As can be seen in the figure, the sickle  404 , pick-ups  406 , and auger  408  run along approximately an entire length  401  of the platform  400 . In one embodiment, the length  401  of the platform  400  is between  36  and  50  feet. Embodiments are not however limited to any particular length  401  and include any desirable length  401 .  FIG. 4  also shows that platform  400  includes a space or distance  414  between sickle  404  and pick-ups  406 . In one embodiment, distance  414  is approximately nine to twelve inches. Distance  414  may however be adjusted as needed and include any desired dimensions. In  FIG. 4 , auger  408  illustratively includes a central rotatable axis  416 , helical blades/protrusions  418 , and non-helical blades/protrusions  420 . Helical blades  418  are used to move the biomass from the outer ends of platform  400  towards the center of center of platform  400 . Once the biomass is at the center, it is then moved backwards out of auger  408  by the non-helical blades  420 . 
     In one embodiment, platform  400  may include one or more sickle supports  412  between each section  402 A,  402 B,  402 C,  402 D, and  402 E of the platform  400 . Accordingly, sickle supports  412  may be connected to and support sickle  404  at multiple points along the platform  400 . For example, in the particular embodiment shown in the figure, platform  400  includes six sickle supports  412 . Embodiments are not however limited to any particular number of sickle supports  412  and may include any number (e.g. 0, 1, 2, 3, 4, 5, etc.). In one particular embodiment, each section  402 A,  402 B,  402 C,  402 D, and  402 E is approximately 5 feet, and the rigidity (e.g. stiffness) of sickle supports  412  may be increased by utilizing a laminated V-shape. Embodiments of sickle supports  412  are not however limited to any particular dimensions or to any particular methods of forming the supports. 
     Platform  400  may optionally includes a rotor  422  that is positioned between pick-ups  406  and auger  408 , and that runs approximately along the entire length  401  of platform  400 . Rotor  422  is illustratively rotatable about a central axis and has a number of protrusions (e.g. knives, paddles, impellers, tynes, etc.). Rotor  422  may be useful in removing some contaminants (e.g. dirt) from the biomass and/or cutting the biomass into smaller pieces. For instance, rotors  422  may agitate the biomass such that contamination is separated from the biomass and can be removed. Platform  400  could also have for example a grate or opening beneath rotors  410  that allows for the loose contaminants to drop through, and thus provide cleaner biomass to auger  408 . 
       FIG. 5  is a side view of a platform  500 . Similar to some of the embodiments shown in the previous figures, platform  500  also optionally includes a sickle  504 , a pick-ups  506 , a rotor  522 , and an auger  508 . Platform  500  may also include an inner support plate  530  and a rotatable end plate  510 . Inner support plate  530  illustratively includes an aperture  532  that partially surrounds rotor  522 . In one embodiment, inner support plate  530  also includes a pivot assembly  534  that rotatably connects inner support plate  530  to rotatable end plate  510 . Pivot assembly  534  enables a height or position of sickles  504  to be adjusted relative to pick-ups  506 , rotor  522 , and auger  508 . For example, pivot assembly  534  enables sickle  504  to be moved up and down in the direction shown by arrow  550 . In an embodiment, rotatable end plate  510  is rigidly connected to sickle supports  412  (shown in  FIG. 4 ) such that end plate  510  and sickle supports  412  move together to raise and lower the sickle  404 . Additionally, rotatable end plate  510  may be connected to the platform  500  at one or more pivoting or rotatable connection points/joints  511 . These features could be useful for example to control the height of the remaining biomass. For instance, regulations may require that a certain height of corn stalks (e.g.  6  inches) remain in a field to prevent soil loss. By including pivot assembly  534 , sickles  504  can be adjusted to the appropriate height to cut the biomass, while maintaining pick-ups  506  at a height that effectively picks-up most of the biomass (e.g. if pick-ups  506  are too far off the ground, biomass may pass beneath the pick-ups and not be harvested). 
       FIG. 5  further shows that inner support plate  530  may include an aperture  536  that support an axle for rotating pick-ups  506 , and that platform  500  may include one or more bands  538  that can be used to transfer rotational motion from a drive mechanism (e.g. hydraulic, pneumatic, electric, etc.) to the pick-ups  506 . In one embodiment, pick-ups  506  are organized into separate sections, and one band  538  is positioned between each of the sections. Embodiments are not however limited to any particular implementation and may include configurations other than the specific example shown in  FIG. 5 . Additionally, it should be noted that the opposite end of platform  500  illustratively includes a same or similar configuration as that shown in  FIG. 5  such that platform  500  includes a pair of inner support plates  530  and a pair of end plates  510  that are connected together to adjust the height of sickle  504  relative to pick-ups  506 . 
       FIG. 6  is a side view of another embodiment of a platform, platform  600 . Again, platform  600  may include a sickle  604 , pick-ups  606 , rotor  622 , and auger  608 . In one embodiment, pick-ups  606  are attached to a sprocket or gear  640 , and rotation from a drive mechanism  644  is transferred to sprocket  640  through a chain  642 . In another embodiment, other components such as belts, pulleys, etc. may be used instead of sprockets and chains. Embodiments are not however limited to any mechanisms for rotating pick-ups  606  or any of the other components (e.g. rotor  622  or auger  608 ) and include any components that can be used to supply rotation. 
     Sickle  604  is optionally connected to and supported by one or more support arms  652 , and the one or more support arms  652  are rotatably connected to an eccentric or pivot axis  650 . Similar to the configuration shown in  FIG. 5 , the configuration of eccentric  650 , support arms  652 , and sickle  604  in  FIG. 6  enables a height of sickle  604  to be adjustable. For example, in one embodiment, the configuration shown in  FIG. 6  enables height of sickle  604  to be adjustable between a minimum height of 3 inches from the ground to a maximum height of 12 inches from the ground. 
     Platform  600  illustratively includes a support brace  660  that runs along approximately an entire length (e.g. length  401  in  FIG. 4 ) of platform  600 . Brace  660  includes a U-shaped portion  661  that surrounds auger  608  and provides a pathway for biomass to be transferred to the center of the auger  608 . Brace  660  also supports an optional shield assembly  662  that can be spring loaded utilizing one or more springs  664 . Shield assembly  662  may be used to prevent unwanted matter/objects from entering platform  600 . For instance, shield assembly  662  may prevent any object that is larger than the space between the sickle  604  and the shield  662  from entering the platform  600 . 
       FIG. 7  is a top down view of a biomass processing system  700  that is implemented utilizing a tractor  702 . System  700  optionally includes a platform  720  and a baler  730 . In the particular embodiment shown in the figure, system  700  does not include a conveyor to transport the biomass from the platform  720  to the baler  730 . Instead, the biomass is placed into a row on the ground and is picked-up from the ground by the baler  730 . In another embodiment, system  700  does include one or more conveyors (e.g. conveyor  108  in  FIG. 1  or conveyors  312 ,  314 ,  320 ,  322 ,  326 ,  328  in  FIG. 3 ). Accordingly, biomass processing systems according to the present disclosure can include systems with or without conveyors. Also, it is worth pointing out that any one or more features or combination of features described in this written description or shown in the figures can be used individually or in combination with any other feature in the disclosure. For instance, any of the platforms (e.g. platform  400  in  FIG. 4 , platform  500  in  FIG. 5 , etc.) can be used alone without conveyors or balers, can be used with only a conveyor and not a baler, or can be used with only a baler and not a conveyor. Similarly, the conveyors and other components described in this disclosure can be used alone or in combination with any other devices. 
     Similar to some of the other embodiments of platforms, platform  700  may also include a sickle  704 , pick-ups  706 , and an auger  708 . Platform  700  may further include grates  710  located beneath auger  708  that allows for contamination to be separated from the biomass.  FIG. 7  shows that platform  700  includes two grates  710  that are placed on opposite sides of the center of the auger  708 . Embodiments may however have any number of grates (e.g. 0, 1, 2, 3, etc.), and the grates may be placed at any location relative to auger  708  or at any other location in the biomass processing system. 
     Platform  700  is illustratively connected to tractor  702  utilizing a front end mount  740 . In an embodiment, mount  740  enables a height of the platform  700 , and thus the height of the sickle  704 , pick-ups  706 , and other components, to be adjusted. For instance, mount  740  may include a pivot or hinge that enables platform  700  to tilt up and down. Mount  740  also illustratively includes an attachment mechanism (e.g. a pin or hitch) that enables platform  700  to be attached to or separated from tractor  702 . 
       FIG. 8  is a top down view of another embodiment of a biomass processing system, system  800 . In one embodiment, system  800  includes a platform  820  connected to a tractor  802  utilizing a front end mount  840 . As can be seen in the figure, front end mount  840  is illustratively supported by connections to three different points  803 ,  804 , and  805  on tractor  802 . In other words, front end mount  840  may be a three-point mount system. Mount  840  may also have pivot points  810  that enable platform  820  to pivot or rotate up and down. 
     Biomass processing system  800  optionally includes a caster wheel (e.g. crazy wheel) assembly  850 . In the particular example shown in  FIG. 8 , caster wheel assembly  850  includes four wheels  851 . Two of the wheels  851  are placed at the front of platform  820 , and the other two wheels  851  are placed at the back of platform  820 . Each wheel  851  has an associated pivot shaft  852 . The pivot shafts  852  allow each of the wheels  851  to rotate in a clockwise and counter-clockwise direction as shown by arrow  855 . The pivot shafts  852  also allow the height of each of the wheels  851  from the ground to be independently adjusted. Each pair of wheels  851  is connected in one embodiment by a support arm  853 . Support arm  853  is illustratively connected to or attached to platform  820  such that wheels  851  are able to support and control the distance of the platform  820  from the ground. It should be noted that embodiments of caster wheel assemblies  850  are not however limited to any particular configuration and include configurations other than the particular example shown in the figure. For instance, a caster wheel assembly  850  can include any number of wheels  851  (e.g. 1, 2, 3, 4, 5, etc.), and the wheels  851  can be connected to a platform  820  utilizing any attachment scheme. 
     In one embodiment, caster wheel assembly  850  may be useful in maintaining platform  820  at an appropriate distance from the ground. For example, a biomass field may include uneven topography features such as, but not limited to, sprinkler tracks and terraces. Without a caster wheel assembly  850 , some components of platform  820  (e.g. the pick-ups) may dig into the ground when crossing a sprinkler track or terrace. However, with a caster wheel assembly  850 , the platform  820  is able to maintain an appropriate height, and components (again e.g. the pick-ups) will not dig into the ground. 
       FIG. 9  is a side view of a platform  920  with an attached caster wheel assembly  950 . Platform  920  includes a sickle  904 , pick-ups  906 , rotor  922 , auger  908 , and an inner support plate  930 . Sickle  904  is supported by sickle support  952 , and sickle support  952  is connected to inner support plate  930  at a sickle pivot point  957 . Sickle pivot point  957  enables a height of sickle  904  to be adjusted relative to inner support plate  930  (i.e. the height of sickle  904  can be adjusted while the position of support plate  930  remains the same). Inner support plate  930  also has an aperture  940  that supports a rotatable axis  936  of pick-ups  906 . The pick-ups  906  are rotated by a strap, belt, chain, etc.  938  that is driven by a drive mechanism  944  that may also be supported by inner support plate  930 . In one embodiment, platform  920  includes one strap  938  between each tyne in pick-ups  906 . Platform  920  further optionally includes a shield assembly  962 . In one embodiment, the positioning of shield assembly  962  is adjusted or controlled utilizing one or more set screws  963 . For instance, the distance  965  between the shield assembly  962  and pick-ups  906  is adjustable utilizing set screws  963 . 
     Caster wheel assembly  960  is illustratively connected to platform  920  utilizing two connection points  960  and  962  on support arm  955 . Connection point  960  may include an aperture that enables platform  920  to be connected with a pin. Connection point  962  may be spring loaded or could alternatively also be a pin connection. In an embodiment, points  960  and  962  enable caster wheels  951  to be able to rotate relative to platform  920 . For instance, points  960  and  962  may enable caster wheels  951  to rotate clockwise and counter-clockwise in the direction shown by arrow  855  in  FIG. 8 . Caster wheels  951  are also illustratively able to move up and down in the vertical direction shown by arrow  956 . For example, pivot shafts  952  may include a telescoping joint  954  that enables wheels  951  to extend or retract from shafts  952 . In one particular embodiment, for illustration purposes only and not by limitation, point  960  includes a vertical pin, and point  960  includes two horizontal pins. The pins are spring loaded to take some of the strain out of the thrust of a counterweight when shifted into reverse. For example, a vertical pin  960  allows the front counterweight to start moving a beam holding one direction and influences the back counterweight the opposite direction, allowed by the rotation about point  960 . 
       FIG. 10  is a side view of a platform  1020 . Similar to the embodiment shown in  FIG. 9 , platform  1020  also includes pick-ups  1006 , auger  1008 , support arm  1055 , caster wheels  1051 , and pivot shafts  1052 . It should be noted that several features have been removed from the view shown in  FIG. 10  (e.g. pick-ups supports, inner support panels, etc.) to better illustrate other aspects of the platform. 
     In the embodiment shown in  FIG. 10 , platform  1020  optionally includes a floating wheel assembly  1070  and a hitch assembly  1080 . Floating wheel assembly  1070  illustratively includes a floating wheel  1074  that is rotatably connected to a support arm  1071 . Support arm  1071  is connected to platform  1020  at a pivot point  1073 . Support arm  1071  may also be connected to platform  1020  by a piston  1076  that enables the floating wheel  1074  to be brought up or down in the direction shown by arrow  1072 . Although  FIG. 10  only shows one floating wheel assembly  1070 , certain embodiments include any number of floating wheels (e.g. 0, 1, 2, 3, 4, etc.), and the floating wheels may be connected to the platform utilizing any connection mechanisms. In one embodiment, floating wheel  1074  is controlled by a control system (e.g. electrical, mechanical, pneumatic, etc.) that enables the height of the floating wheel  1074  to be automatically controlled. For example, the floating wheel  1074  can be raised automatically when a tractor is placed in reverse to allow clearance for front caster wheels  1051  to pivot when backing-up. 
     Platform  1020  may further optionally include a push bar  1082 , a hinge  1084 , and a depth control sensor  1095 . Push bar  1082  is optionally mounted to a tractor or other device that carries platform  1020 . Hinge  1084  rotatably connects push bar  1082  to support arm  1055  such that the platform  1020  can be titled up and down in the direction shown by arrow  1088 . Optional depth control sensor  1095  is able to detect the distance to the ground. Depth control sensor  1095  is illustratively placed behind the pick-ups  1006  and is used to control the height of the platform. In one embodiment, the heights of caster wheels  1051  are hydraulically controlled based on feedback from depth control sensor  1095  such that pick-ups  1006  are slightly above the ground (e.g. pick-ups  1006  are at a height close to the ground but not touching the ground). Accordingly, the platform configuration shown in  FIG. 10  can be used to automatically maintain the height of platform  1020  at an appropriate height during operation. 
       FIG. 10  also shows some examples of possible spacings between the front tractor wheels  1060 , the caster wheels  1051 , and the floating wheel  1074 . In one embodiment, for illustration purposes only and not by limitation, the distance  1091  between the front tractor wheel  1060  and the back caster wheel  1051  is approximately 2 feet. The distance  1092  between the front and the back caster wheels  1051  is approximately 8-10 feet, and the distance between the front caster wheels  1051  and the floating wheel  1074  is approximately 2 feet and 6 inches. Embodiments of the present disclosure are not however limited to any particular dimensions and include any desirable dimensions. 
     In one embodiment, having a wheel base of 8-10 feet (e.g. distance  1092 ) allows a “land plane” effect of controlling the depth of the pick-ups  1006  which should be slightly above the ground. Since each caster wheel  1051  may be raised or lowered by hydraulics and the pick-ups  1006  are rigidly mounted to the platform  1020 , the depth of the pick-ups  1006  can be controlled manually by an operator, automatically utilizing a sensor (e.g. sensor  1095 ), or semi-autonomously using both input from an operator and a sensor. Additionally, having a caster wheel distance of approximately 30 inches (e.g. distance  1093 ) may help to maintain the same depth of the platform  1020  while crossing various topographic features. For instance, when a caster wheel  1051  crosses a track or depression, the floating wheel  1074  enables the same height of the platform  1020  to be maintained (e.g. the platform does not sink when crossing a depression). Also for instance, the reverse effect is encountered when one of the rear caster wheels  1051  could go down a track or depression. In such a case, the front tractor wheel  1060  may hold the platform  1020  up because the hitch  1080  will hold the platform  1020  up even if the tractor wheel  1060  goes down. The platform  1020  does not need to hold the weight of the tractor because of the hitch  1080  allowing the platform to flex up to 16-18 inches. 
     As has been described above and shown in the accompanying figures, embodiments of the present disclosure include methods and equipment for handling and processing biomass. Biomass is illustratively harvested in a one-pass operation that includes cutting the biomass with sickles, moving the cut biomass into a row using an auger, and baling the biomass. The one-pass operation may also include transferring the biomass from the auger to the baler utilizing a conveyor, and removing contaminants from the biomass using various methods such as, but not limited to, grates, rotors, and/or cleaning modules. Accordingly, at least some embodiments of the present disclosure may be advantageous in that they increase efficiency by reducing the number of passes in harvesting biomass and may also improve the quality of biomass by reducing the amount of contaminants (e.g. dirt) in the biomass. For example, by using a conveyor between an auger and a baler, the amount of contact the biomass has with the ground is reduced by keeping the biomass elevated from the ground, and the biomass is less likely to pick-up additional contaminants. Additionally, embodiments also include other features such as caster wheels, hitches, floating wheels, and depth control sensors that can be utilized in implementing a biomass processing system. Again, it is worth noting that any one or more feature described above or shown in the figures can be used by itself or with any other combination of features described above or shown in the figures. 
     Finally, it is to be understood that even though numerous characteristics and advantages of various embodiments have been set forth in the foregoing description, together with details of the structure and function of various embodiments, this detailed description is illustrative only, and changes may be made in detail, especially in matters of structure and arrangements of parts within the principles of the present disclosure to the full extent indicated by the broad general meaning of the terms in which the appended claims are expressed. In addition, although the embodiments described herein are directed to biomass processing systems, it will be appreciated by those skilled in the art that the teachings of the disclosure can be applied to other types of systems, without departing from the scope and spirit of the disclosure.