Multiaction treatment of plants in an agricultural environment

A method performed by a treatment system disposed on a moving platform, the treatment system comprising one or more processors, a storage, and a treatment mechanism, the method comprising:

• identifying, by the treatment system, by processing images captured by sensors on the moving platform, a patch of soil for treatment;
• configuring the treatment mechanism to interact with the patch of soil by orienting a treatment module to treat at a target distance and position, wherein a current position of the treatment module is adjusted by an offset between a distance and position where a previous treatment was targeted and a distance and position where the previous treatment actually landed;
• and
• treating, after the orienting the treatment module, the patch of soil by activating the treatment mechanism to treat the patch of soil according to treatment parameters that are determined including location and timestamps of the images.

A treatment system disposed on a moving platform, comprising:

• one or more processors, and
• a treatment mechanism comprising a treatment module,
• wherein the one or more processors are configured to:
• identify, by processing images captured by sensors on the moving platform, a patch of soil for treatment;
• configure the treatment mechanism to interact with the patch of soil by orienting a treatment module to treat at a target distance and position, wherein a current position of the treatment module is adjusted by an offset between a distance and position where a previous treatment was targeted and a distance and position where the previous treatment actually landed;
• and
• treat, after the orienting the treatment module, the patch of soil by activating the treatment mechanism to treat the patch of soil according to treatment parameters that are determined including location and timestamps of the images.

A computer readable medium having processor-executable code stored thereupon, the code, upon execution by a processor a treatment system disposed on a moving platform, causing the treatment system to:

• identify, by processing images captured by sensors on the moving platform, a patch of soil for treatment;
• configure a treatment mechanism of the treatment system to interact with the patch of soil by orienting a treatment module of the treatment mechanism, wherein a current position of the treatment module is adjusted by an offset between a distance and position where a previous treatment was targeted and a distance and position where the previous treatment actually landed;
• and
• treat, after the orienting the treatment module, the patch of soil by activating the treatment mechanism to treat the patch of soil according to treatment parameters that are determined including location and timestamps of the images.