US 12,402,619 B2
Performing multiple actions on plant objects on a moving platform
Curtis Dale Garner, Modesto, CA (US); Gabriel Thurston Sibley, Menlo Park, CA (US); Patrick Christopher Leger, Belmont, CA (US); and Wisit Jirattigalachote, Palo Alto, CA (US)
Assigned to Verdant Robotics, Inc., Hayward, CA (US)
Filed by Verdant Robotics, Inc., Hayward, CA (US)
Filed on Oct. 30, 2023, as Appl. No. 18/497,889.
Application 18/497,889 is a continuation of application No. 17/722,285, filed on Apr. 15, 2022, granted, now 11,800,862.
Application 17/722,285 is a continuation of application No. 17/544,152, filed on Dec. 7, 2021, granted, now 11,844,343.
Application 17/544,152 is a continuation of application No. 17/073,244, filed on Oct. 16, 2020, granted, now 11,694,434, issued on Jul. 4, 2023.
Prior Publication US 2024/0057580 A1, Feb. 22, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A01M 7/00 (2006.01); A01C 23/00 (2006.01); A01C 23/04 (2006.01); A01M 9/00 (2006.01)
CPC A01M 7/0089 (2013.01) [A01C 23/007 (2013.01); A01C 23/04 (2013.01); A01M 9/0092 (2013.01); A01M 7/0032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A treatment apparatus comprising: two or more fluid tanks, including a first fluid tank configured to hold a first fluid, and a second fluid tank configured to hold a second fluid; a first fluid regulator comprising a first fluid input port, a first fluid output port and a first fluid control valve; a first tube fluidly coupled from a first fluid pump to the first fluid input port; a second fluid regulator comprising a second fluid input port, a second fluid output port and a second fluid control valve; a second tube fluidly coupled from a second fluid pump to the second fluid input port; a treatment unit comprising two or more moveable spraying tips, including a first spraying tip and a second spraying tip, configured to be adjustable in at least a first axis and a second axis; a third tube fluidly coupled from the first fluid output port to the first spraying tip; a fourth tube fluidly coupled from the second fluid output port to the second spraying tip; a controller configured to provide instructions to the first fluid regulator to open and close the first fluid control valve to release an amount of the first fluid from the first fluid tank, and the controller being configured to provide instructions to the second fluid regulator to open and close the second fluid control valve to release an amount of the second fluid from the second fluid tank, wherein the controller is configured to control the first fluid regulator to open and close the first fluid control valve at different time intervals such that an amount of pressure in the first tube causes bursts of fluid projectiles of a first fluid to each emit in a predetermined spray volume and a predetermined spray diameter to cover an area of a target object; and one or more processors configured to perform the operations of: identifying a first target agricultural object; based on a first spray profile, activating the treatment unit to emit the first fluid at the first target agricultural object, wherein the first fluid regulator is moved to an opened position for an amount of time such that the first fluid is emitted, via the first spraying tip, as a first fluid projectile at the first target agricultural object for a first spray duration; and based on a second spray profile, activating the treatment unit to emit a second fluid at a second target agricultural object, wherein the second fluid regulator is moved to an opened position for an amount of time such that the second fluid is emitted, via the second spraying tip, as a second fluid projectile at the second target agricultural object for a second spray duration.