# US 12,759,084 B2 · Motor controlled turret to spray a pattern onto a target surface > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,084 B2 - Document ID: US12759084B2 - Status: Granted - Kind: B2 - Application number: 18/629,728 - Filed: 2024-04-08 - Published: 2024-08-01 - Granted: 2026-10-13 - Earliest claimed: 2020-10-16 - Assignees: Verdant Robotics, Inc. - Applicants: Verdant Robotics, Inc. - Inventors: Gabriel Thurston Sibley; Patrick Christopher Leger; Wisit Jirattigalachote; Curtis Dale Garner - Web page: https://patentgrep.com/patent/US12759084B2 ## CPC - B23K 26/38: by boring or cutting - A01B 79/005: {Precision agriculture} - A01C 23/007: {Metering or regulating systems} - A01C 23/047: {Spraying of liquid fertilisers} - A01M 7/0042: {Field sprayers, e.g. self-propelled, drawn or tractor-mounted} - A01M 7/0089: {Regulating or controlling systems (the delivery being related to the movement of a vehicle B05B9/06)} - A01M 21/046: {by electricity} - B05B 12/12: responsive to conditions of ambient medium or target, e.g. humidity, temperature {position or movement of the target relative to the spray apparatus (B05B12/082, B05B12/084 take precedence)} - B05B 13/0421: {with rotating spray heads} - B23K 26/0884: {in at least three axial directions, e.g. manipulators, robots} - G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G06V 20/188: {Vegetation} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - A01C: PLANTING; SOWING; FERTILISING (parts, details or accessories of agricultural machines or implements, in general A01B51/00 - A01B75/00) - A01M: CATCHING, TRAPPING OR SCARING OF ANIMALS (appliances for catching swarms or drone-catching A01K57/00; fishing A01K69/00 - {A01K99/00}; biocides, pest repellants or attractants A01N); APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS - B05B: SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES (spray-mixers with nozzles B01F25/72; processes for applying liquids or other fluent materials to surfaces by spraying B05D) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to an agricultural treatment system and method of operation. The agricultural treatment system uses a spraying apparatus for spraying fluid at agricultural objects. The spraying apparatus is configured with a spraying head assembly that includes a moveable spraying head with one or more spraying tips a first motor assembly having a first motor interconnected with the spraying head assembly, wherein the one or more spraying tips pivot and rotate about an axis via a rotation of the first motor to emit a first fluid of the one or more fluids at the agricultural objects. ## Claims ### Claim 1 A method of treating a target object, the method comprising: accessing a spraying apparatus from a plurality of spraying apparatuses, 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; determining 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; determining a predicted spray path of the first fluid emitted from the one or more spraying tips; adjusting a position of the spraying head assembly based on the predicted spray path via the rotation of the first motor and the second motor; stopping the 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 emitting a first fluid of the one or more fluids at the first target object, the first fluid obtained from a first fluid source. ### Claim 2 (depends on 1) The method of claim 1, further comprising: regulating the flow of the one or more fluids including the first fluid by controlling a regulator to open and close causing a flow of the first fluid to start and stop, causing the first fluid to emit from the one or more spraying tips, wherein the regulator comprises a solenoid valve that controls a fluid pressure of the first fluid in a range of 5-250 PSI. ### Claim 3 (depends on 1) The method of claim 1, further comprising: determining a pose of the spraying head assembly; and based on the determined pose, adjusting or rotating the first motor such that the one or more spraying tips adjusts its position that at least a portion of the emitted first fluid intercepts the first target object, wherein, in a home position, the spraying head assembly is positioned at an x, y coordinate of 0,0, and a line from a center axis of each of the first motor and the second motor extends through a respective rotational axis of the spraying head assembly. ### Claim 4 (depends on 1) The method of claim 1, further comprising: obtaining, via one or more video cameras attached to a vehicle, the vehicle rigidly supporting the spraying apparatus, video imagery of the emitted first fluid while being dispensed at the first target object; determining a location of impact of the emitted first fluid relative to the first target object, wherein determining the location of impact of the emitted first fluid comprises detecting a color change in a ground to determine that a splat is detected. ### Claim 5 (depends on 1) The method of claim 1, further comprising: emitting a second fluid at the first target object, the second fluid obtained from a second fluid source and the second fluid being a different type of fluid from the first fluid, wherein the one or more spraying tips comprise a hypodermic needle having one or more input orifices for different types of fluids and one or more output orifices. ### Claim 6 (depends on 1) The method of claim 1, wherein the first linkage assembly comprises: a linkage bracket rotatable by the first motor and a linkage arm rotatably coupling the linkage bracket to the spraying head assembly. ### Claim 7 (depends on 1) The method of claim 1, wherein the emitted first fluid is emitted as a spray projectile, a spray pattern, a mist, a fog, an aerosol, or a combination thereof, and is emitted in a volume of fluid ranging from 1 milliliter to 1 liter. ### Claim 8 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. ### Claim 9 (depends on 8) The agricultural treatment system of claim 8, further comprising: cause the spraying apparatus to regulate the flow of the one or more fluids including the first fluid by controlling a regulator to open and close causing a flow of the first fluid to start and stop, causing the first fluid to emit from the one or more spraying tips, wherein the regulator comprises a solenoid valve that controls a fluid pressure of the first fluid in a range of 5-250 PSI. ### Claim 10 (depends on 8) The agricultural treatment system of claim 8, further comprising: determine a pose of the spraying head assembly; and based on the determined pose, cause the first motor to rotate or adjust such that the one or more spraying tips adjusts its position that at least a portion of the emitted first fluid intercepts the first target object, wherein, in a home position, the spraying head assembly is positioned at an x, y coordinate of 0.0, and a line from a center axis of each of the first motor and the second motor extends through a respective rotational axis of the spraying head assembly. ### Claim 11 (depends on 8) The agricultural treatment system of claim 8, further comprising: obtain, via one or more video cameras attached to a vehicle, the vehicle rigidly supporting the spraying apparatus, video imagery of the emitted first fluid while being dispensed at the first target object; determine a location of impact of the emitted first fluid relative to the first target object, wherein the location of impact of the emitted first fluid is determined by detecting a color change in a ground to determine that a splat is detected. ### Claim 12 (depends on 8) The agricultural treatment system of claim 8, further comprising: cause the spraying apparatus to emit a second fluid at the first target object, the second fluid obtained from a second fluid source and the second fluid being a different type of fluid from the first fluid, wherein the one or more spraying tips comprise a hypodermic needle having one or more input orifices for different types of fluids and one or more output orifices. ### Claim 13 (depends on 8) The agricultural treatment system of claim 8, wherein the first linkage assembly comprises: a linkage bracket rotatable by the first motor and a linkage arm rotatably coupling the linkage bracket to the spraying head assembly. ### Claim 14 (depends on 8) The agricultural treatment system of claim 8, wherein the emitted first fluid is emitted as a spray projectile, a spray pattern, a mist, a fog, an aerosol, or a combination thereof, and is emitted in a volume of fluid ranging from 1 milliliter to 1 liter. ### Claim 15 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. ### Claim 16 (depends on 15) The non-transitory computer-readable medium of claim 15, further comprising: cause the spraying apparatus to regulate the flow of the one or more fluids including the first fluid by controlling a regulator to open and close causing a flow of the first fluid to start and stop, causing the first fluid to emit from the one or more spraying tips, wherein the regulator comprises a solenoid valve that controls a fluid pressure of the first fluid in a range of 5-250 PSI. ### Claim 17 (depends on 15) The non-transitory computer-readable medium of claim 15, further comprising: determine a pose of the spraying head assembly; and based on the determined pose, cause the first motor to rotate or adjust such that the one or more spraying tips adjusts its position that at least a portion of the emitted first fluid intercepts the first target object, wherein, in a home position, the spraying head assembly is positioned at an x, y coordinate of 0,0, and a line from a center axis of each of the first motor and the second motor extends through a respective rotational axis of the spraying head assembly. ### Claim 18 (depends on 15) The non-transitory computer-readable medium of claim 15, further comprising: obtain, via one or more video cameras attached to a vehicle, the vehicle rigidly supporting the spraying apparatus, video imagery of the emitted first fluid while being dispensed at the first target object; determine a location of impact of the emitted first fluid relative to the first target object, wherein the location of impact of the emitted first fluid is determined by detecting a color change in a ground to determine that a splat is detected. ### Claim 19 (depends on 15) The non-transitory computer-readable medium of claim 15, further comprising: cause the spraying apparatus to emit a second fluid at the first target object, the second fluid obtained from a second fluid source and the second fluid being a different type of fluid from the first fluid, wherein the one or more spraying tips comprise a hypodermic needle having one or more input orifices for different types of fluids and one or more output orifices. ### Claim 20 (depends on 15) The non-transitory computer-readable medium of claim 15, wherein the first linkage assembly comprises: a linkage bracket rotatable by the first motor and a linkage arm rotatably coupling the linkage bracket to the spraying head assembly.