Agricultural vehicle with adjustable row unit

A self-propelled agricultural vehicle comprising:

• a left frame;
• a left wheel being rotatable with respect to the left frame;
• a first leg extending upward from the left frame;
• a right frame;
• a right wheel being rotatable with respect to the right frame;
• a second leg extending upward from the right frame;
• a beam connecting the first leg to the second leg;
• a first satellite navigation receiver on a first end of the beam, wherein the first satellite navigation receiver determines a first position;
• a second satellite navigation receiver on a second end of the beam opposite from the first end, wherein the second satellite navigation receiver determines a second position;
• a data processor estimates a reference point on or below the vehicle and an angular orientation or attitude of the beam relative to the reference point based on the determined first and second positions;
• an upper carriage that is laterally movable along the beam;
• a lower carriage suspended from the upper carriage by a plurality of vertical supports, wherein a target translation position of the upper carriage establishes an actual lateral position of the lower carriage, wherein the lower carriage comprises a first position adjuster for adjusting height of a nozzle associated with a row unit, the first position adjuster comprising:
• a lower platform;
• an upper platform spaced apart from the upper platform;
• a plurality of legs with pivot points for movably connecting the lower platform to the upper platform;
• a first support member associated with central pivot points of the plurality of legs;
• a second support member associated with central pivot points of the plurality of legs, the second support member located opposite from the first support member;
• a threaded rod engaging a threaded bore in the first support member and extending toward the second support member;
• and
• a first adjustment actuator for turning the threaded rod to change the height of the lower platform with respect to the upper platform;
• hence, a height of a nozzle located on the lower platform, the first adjustment actuator on the second support member;
• and
• an imaging system for collecting image data on a spatial alignment of the lower carriage with respect to one or more plants or rows of plants;
• the imaging system comprising an imaging device and an associated image processing module, the image processing module storing software instructions in a data storage device, the data processor configured to process the software instructions.