Nozzles with interchangeable inserts for precision application of crop protectant

A method for treating plants in a field with a farming machine while the farming machine travels in a direction through the field, the method comprising:

• accessing, for a first treatment fluid and a second treatment fluid, treatment fluid parameters for nozzles of a rotatable nozzle manifold having nozzles with nozzle spray areas and actuatable valves, the nozzles for applying one or more treatment fluids, and the treatment fluid parameters affecting how nozzles spray treatment fluid towards nozzle spray areas;
• identifying, as the farming machine travels through the field, locations of plants in the field, the locations comprising a first location of a first plant and a second location of a second plant;
• selecting the first treatment fluid for treating the first plant and the second treatment fluid for treating the second plant;
• and
• responsive to identifying locations of plants in the field:
• determining compensatory nozzle spray areas for the first plant and the second plant, the compensatory nozzle spray areas configured to treat the first plant and the second plant at their identified locations when accounting for how nozzle sprays areas are affected by the accessed treatment fluid parameters of the selected treatment fluid for each plant;
• rotating the rotatable nozzle manifold using an actuation mechanism such that the determined compensatory nozzle spray areas are positioned to treat the first plant and the second plant in the field, and
• actuating, for each of the first plant and the second plant, the actuatable valves to pass, from a treatment fluid reservoir, the selected treatment fluid for the plant through the nozzles to treat the first plant and the second plant using the compensatory nozzle spray areas, each treatment using the accessed treatment fluid parameters for the selected treatment fluid.

A non-transitory computer readable medium configured to store program code instructions for treating plants in a field while a farming machine travels in a direction through the field, when executed by a processor of a device, cause the device to perform steps comprising:

• accessing, for a first treatment fluid and a second treatment fluid, treatment fluid parameters for nozzles of a rotatable nozzle manifold having nozzles with nozzle spray areas and actuatable valves, the nozzles for applying one or more treatment fluids, and the treatment fluid parameters affecting how nozzles spray treatment fluid towards nozzle spray areas;
• identifying, as the farming machine travels through the field, locations of plants in the field, the locations comprising a first location of a first plant and a second location of a second plant;
• select the first treatment fluid for treating the first plant and the second treatment fluid for treating the second plant;
• and
• responsive to identifying locations of plants in the field:
• determining compensatory nozzle spray areas for the first plant and the second plant, the compensatory nozzle spray areas configured to treat the first plant and the second plant at their identified locations when accounting for how nozzle sprays areas are affected by the accessed treatment fluid parameters of the selected treatment fluid for each plant;
• rotating the rotatable nozzle manifold using an actuation mechanism such that the determined compensatory nozzle spray areas are positioned to treat the first plant and the second plant in the field, and actuating, for each of the first plant and the second plant, the actuatable valves to pass, from a treatment fluid reservoir, the selected treatment fluid for the plant through the nozzles to treat the first plant and the second plant using the compensatory nozzle spray areas, each treatment using the accessed treatment fluid parameters for the selected treatment fluid.