Patent ID: 9655356
Date: 2017-05-23
CPC Classifications: A01D,A01M,B05B,G05D,G06K,G06Q,H04N

Claim:
1. A lawn treatment apparatus comprising: a main chassis having a plurality wheels that roll the main chassis in a moving direction along a path across a lawn in response receiving a motive force, the main chassis having a front side and rear side with respect to the moving direction; a front scanner disposed on the front side of the main chassis and oriented to capture a plurality of images of portions of the lawn that include an area with a center between 0 inches and 12 inches in front of the main chassis, the plurality of images forming a sequence of scanned images of portions of the lawn along the path; a non-transitory memory configured to store at least a portion of the plurality of images; a trolley that is connected to and towed behind the main chassis, the trolley including a trolley chassis that is spaced a predetermined distance of at least 3 feet behind the rear side of the main chassis; a cartridge that is detachably attached to the trolley chassis, and having a first reservoir configured to hold a first chemical, and a second reservoir configured to hold a second chemical, the first chemical being one of an herbicide, a pesticide and a fungicide, the second chemical being one of a different herbicide, a different pesticide and a different fungicide; a plurality of controllable nozzles operatively connected to the first reservoir and the second reservoir of the cartridge; a nozzle controller that controllably regulates which of the first chemical and second chemical is provided to respective of the controllable nozzles, and controls a spray pattern of the respective of the controllable nozzles; a processor configured to record a location of a feature in the lawn that resembles a type of weed, insect nest or fungal spot, wherein in a first or subsequent pass of the chassis along the path, the processor is configured to identify the location of the feature and the feature and trigger the nozzle controller to dispense at least one of the first chemical and second chemical through one or more of the plurality of controllable nozzles onto a corresponding portion of the lawn where the feature was detected, the processor triggers the nozzle to dispense the at least one of the first chemical and second chemical after the main chassis has passed over the portion of the lawn and is positioned within a coverage range of the nozzle, and the dispensed chemical being selected by the processor to treat the target object.