US 11,951,570 B2
Treating a target via a modular precision delivery system
Gabriel Thurston Sibley, Alameda, CA (US); Patrick Christopher Leger, Belmont, CA (US); Curtis Dale Garner, Sand City, CA (US); and Wisit Jirattigalochote, Palo Alto, CA (US)
Assigned to Verdant Robotics, Inc., Hayward, CA (US)
Filed by Verdant Robotics, Inc., Hayward, CA (US)
Filed on May 4, 2022, as Appl. No. 17/737,000.
Application 17/737,000 is a continuation of application No. 17/503,217, filed on Oct. 15, 2021.
Claims priority of provisional application 63/093,106, filed on Oct. 16, 2020.
Claims priority of provisional application 63/093,118, filed on Oct. 16, 2020.
Prior Publication US 2022/0274207 A1, Sep. 1, 2022
Int. Cl. A01C 23/00 (2006.01); A01B 79/00 (2006.01); A01C 23/04 (2006.01); A01M 7/00 (2006.01); A01M 21/04 (2006.01); B05B 12/12 (2006.01); B05B 13/04 (2006.01); B23K 26/08 (2014.01); B23K 26/38 (2014.01); G05D 1/00 (2006.01); G06V 20/10 (2022.01); G06V 20/56 (2022.01)
CPC B23K 26/38 (2013.01) [A01B 79/005 (2013.01); A01C 23/007 (2013.01); A01C 23/047 (2013.01); A01M 7/0042 (2013.01); A01M 7/0089 (2013.01); A01M 21/046 (2013.01); B05B 12/12 (2013.01); B05B 13/0421 (2013.01); B23K 26/0884 (2013.01); G05D 1/0231 (2013.01); G06V 20/188 (2022.01); G06V 20/56 (2022.01)] 27 Claims
OG exemplary drawing
 
1. A method of treating a target object, the method comprising:
providing a spraying apparatus, the spraying apparatus comprising:
a spraying head assembly comprising one or more spraying tips, and a body member connected to one or more fluid sources;
a first motor assembly comprising a first motor interconnected with the spraying head assembly; and
a second motor assembly comprising a second motor interconnected with the spraying head assembly;
determining a first target object to be sprayed with a first fluid emitted from the one or more spraying tips;
adjusting a position of the spraying head assembly via rotation of the first and/or second motors;
emitting the first fluid at the first target object, the first fluid obtained from a first fluid source;
obtaining, via one or more video cameras attached to a vehicle, video imagery of the emitted fluid while being dispensed at the first target object;
determining whether the emitted first fluid is hitting the first target object; and
determining an offset to the spraying head assembly;
wherein the rotation of the first motor pivots the spraying head assembly about a first axis via a first linkage assembly connected from the first motor to the spraying head assembly at a first joint, and the rotation of the second motor pivots the spraying head assembly about a second axis via a second linkage assembly connected from the second motor to the spraying head assembly at a second joint, and wherein each of the one or more spraying tips move together with the spraying head assembly when either the first motor rotates or the second motor rotates.