Motor controlled turret to spray a pattern onto a target surface

An agricultural treatment system comprising:

• a spraying apparatus, comprising:
• a frame;
• a spraying head assembly comprising one or more spraying tips, and a body member connected to one or more fluid sources and configured to spray one or more fluids obtained from the one or more fluid sources;
• a first motor assembly comprising a first motor mounted to the frame and a first linkage assembly coupling the first motor to the spraying head assembly, wherein a rotation of the first motor pivots the spraying head assembly about a first axis;
• a second motor assembly comprising a second motor mounted to the frame and a second linkage assembly coupling the second motor to the spraying head assembly, wherein a rotation of the second motor pivots the spraying head assembly about a second axis different from the first axis;
• a first encoder coupled to the first motor and configured to identify a rotational position of the first motor;
• and a second encoder coupled to the second motor and configured to identify a rotational position of the second motor;
• and an on-board computing system operably coupled to the spraying apparatus, the on-board computing system configured to:
• determine a first target object to be sprayed with a first fluid of the one or more fluids emitted from the one or more spraying tips;
• determine a predicted spray path of the first fluid emitted from the one or more spraying tips;
• instruct the spraying apparatus to adjust a position of the spraying head assembly based on the predicted spray path via the rotation of the first motor and the second motor;
• instruct the spraying apparatus to stop rotation of the first motor and the second motor when a first encoder output value of the first encoder and a second encoder output value of the second encoder correspond to a desired position of the spraying head assembly;
• and
• instruct the spraying apparatus to emit a first fluid of the one or more fluids at the first target object, the first fluid obtained from a first fluid source.

A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors of an agricultural treatment system, cause the agricultural treatment system and a spraying apparatus, the spraying apparatus comprising a frame, a spraying head assembly comprising one or more spraying tips, and a body member connected to one or more fluid sources and configured to spray one or more fluids obtained from the one or more fluid sources, a first motor assembly comprising a first motor mounted to the frame and a first linkage assembly coupling the first motor to the spraying head assembly, wherein a rotation of the first motor pivots the spraying head assembly about a first axis, a second motor assembly comprising a second motor mounted to the frame and a second linkage assembly coupling the second motor to the spraying head assembly, wherein a rotation of the second motor pivots the spraying head assembly about a second axis different from the first axis, a first encoder coupled to the first motor and configured to identify a rotational position of the first motor, and a second encoder coupled to the second motor and configured to identify a rotational position of the second motor, coupled to the agricultural treatment system, to perform the operations comprising:

• determine a first target object to be sprayed with a first fluid of the one or more fluids emitted from the one or more spraying tips;
• determine a predicted spray path of the first fluid emitted from the one or more spraying tips;
• instruct the spraying apparatus to adjust a position of the spraying head assembly based on the predicted spray path via the rotation of the first motor and the second motor;
• instruct the spraying apparatus to stop rotation of the first motor and the second motor when a first encoder output value of the first encoder and a second encoder output value of the second encoder correspond to a desired position of the spraying head assembly;
• and
• instruct the spraying apparatus to emit a first fluid of the one or more fluids at the first target object, the first fluid obtained from a first fluid source.