Methods and apparatus for efficient material application

Methods, apparatus, systems and articles of manufacture are disclosed for efficient material application. An example landscape treatment apparatus includes a main carrier tank to store a solvent, a concentrate tank to store a solute, and a first mix tank to receive the solvent and the solute as a first mixture. The example apparatus further includes a second mix tank to receive the solvent and the solute as a second mixture, where the first mix tank is to receive the solvent and the solute in alternation with the second mix tank receiving the solvent and the solute. The example apparatus also includes a boom to apply the first mixture and the second mixture to a landscape via a plurality of nozzles, where the boom is to apply the first mixture and the second mixture in alternation.

FIELD OF THE DISCLOSURE

This disclosure relates generally to landscape equipment, and, more particularly, to methods and apparatus for efficient material application.

BACKGROUND

Tractors can be utilized for numerous lawn maintenance procedures. Tractors can include accessories for spraying weeds, depositing fertilizer, or other lawn treatment processes. Accessories for material application (e.g., for spraying weed killer or other lawn treatments) can be mounted to a front end or a rear end of a tractor, and operated as the tractor travels over the lawn.

SUMMARY

An example apparatus disclosed herein includes a main carrier tank to store a solvent, a concentrate tank to store a solute, a first mix tank to receive the solvent and the solute as a first mixture, a second mix tank to receive the solvent and the solute as a second mixture, the first mix tank to receive the solvent and the solute in alternation with the second mix tank receiving the solvent and the solute, the first mix tank to be pressurized after a first fluid level of the first mixture in the first mix tank satisfies a first upper fill threshold and the second mix tank to be pressurized after a second fluid level of the second mixture in the second mix tank satisfies a second upper fill threshold, and a boom to apply the first mixture and the second mixture to a landscape via a plurality of nozzles, the boom to apply the first mixture and the second mixture in alternation.

An example non-transitory computer readable storage medium disclosed herein includes instructions that, when executed, cause a processor to at least issue control signals to cause a first mix tank to receive a solvent and a solute as a first mixture, cause a second mix tank to receive the solvent and the solute as a second mixture, the control signals to cause the first mix tank to receive the solvent and the solute in alternation with the second mix tank receiving the solvent and the solute, cause the first mix tank to be pressurized when a first fluid level of the first mixture in the first mix tank satisfies a first upper fill threshold, cause the second mix tank to be pressurized when a second fluid level of the second mixture in the second mix tank satisfies a second upper fill threshold, cause a boom to apply the first mixture and the second mixture to a landscape via a plurality of nozzles, the boom to apply the first mixture and the second mixture in alternation.

An example method disclosed herein includes storing a solvent, storing a solute, mixing the solvent and the solute to form a first mixture in a first mix tank, mixing the solvent and the solute to form a second mixture in a second mix tank in alternation with mixing the solvent and the solute to form the first mixture, pressurizing the first mix tank when a first fluid level of the first mixture in the first mix tank satisfies a first upper fill threshold, pressurizing the second mix tank when a second fluid level of the second mixture in the second mix tank satisfies a second upper fill threshold, applying the first mixture to a landscape, and applying the second mixture to the landscape in alternation with applying the first mixture to the landscape.

DETAILED DESCRIPTION

Tractors conventionally apply lawn treatments (e.g., weed spraying, fertilization, etc.) in a non-targeted manner, depositing treatment evenly as the tractor moves over the surface of the lawn (e.g., turf) when a spraying mechanism is enabled. As a result, areas of lawn can be over-treated or under-treated, due to the generalized nature of the treatment. This is not only less effective at accomplishing the objective of the treatment but also results in wasted treatment. Tractors can have large area spray mechanisms (e.g., nozzles) that span across a width of the tractor. In some examples, these spray mechanism(s) are attached to the rear end of the tractor, making it difficult for an operator to determine when a tractor is over a desired treatment target. Considering the tractor is typically moving as it applies the lawn treatment, the task of enabling the spray mechanism(s) to spray the desired target is particularly cumbersome.

Some conventional tractors require a concentrated lawn treatment substance be manually pre-mixed by a user and then attached to the tractor to be deposited onto the lawn. In some examples, these pre-mixed substances must be used at once, as they cannot be stored for future use once mixed. These pre-mixed solutions therefore result in over-use of the lawn treatment, as the operator typically applies the lawn treatment until all of the mixed solution is used, regardless of the actual lawn treatment requirements. When an operator desires to alternate between different lawn treatments (e.g., transitioning from applying a fertilizer to a weed-spraying solution), conventional tractors may be difficult to clean-out to prevent cross-contamination of the previously applied lawn treatment, requiring manual clean-out of components (e.g., hoses, valves, storage containers, etc.) that interact with the lawn treatment.

Example methods, apparatus, systems, and articles of manufacture (e.g., physical storage media) for efficient lawn spraying are disclosed herein. Some example lawn spraying methods, apparatus, systems and articles of manufacture disclosed herein include utilizing one or more mix tank(s) to automatically mix a concentrate solution (e.g., a weed-spraying concentrate, a fertilizer concentrate, etc.) with a main carrier (e.g., a solvent, such as water, etc.) to form a lawn treatment mixture that is subsequently sprayed in a targeted manner. For example, an operator can connect a concentrate bottle to the tractor, and the lawn spraying system of the tractor can mix small amounts of the concentrate solution with the main carrier as it is required (e.g., when the user enables a spraying mode). When the operator desires to apply a different lawn treatment, the concentrate bottle can be detached and stored for future use, and a new concentrate bottle for the new lawn treatment can be connected. By only preparing the amount of lawn treatment mixture that is required at a given time, the operator can selectively apply lawn treatment only when required, and does not feel an obligation to use a large batch of lawn treatment mixture in the way one may be compelled to do when using conventional manually-mixed lawn treatments. The example techniques disclosed herein further advantageously mix concentrate solution with a main carrier to create a correctly proportion concentrate solution mixture prior to spraying the lawn treatment mixture, unlike a direct-injection style solution that may mix the concentrate solution and main carrier in a spray line (e.g., by spraying the mixture at the same time as it is prepared). This pre-mixing results in a reliable and repeatable lawn treatment mixture.

In some examples, two mix tanks are utilized to enable one mix tank to be mixed and prepared while the other mix tank supplies the lawn treatment that is sprayed. In such examples, one or more fluid level sensor(s) can be utilized to monitor filling status(es) of the mix tanks, such that once a mix tank is filled with a lawn treatment mixture beyond a filling threshold, the mix tank can be pressurized and readied for spraying. Similarly, in some examples, one or more fluid level sensor(s) can be utilized to determine when one of the mix tanks does not have sufficient lawn treatment mixture to continue spraying, and thereby begin filling this mix tank and utilizing the other mix tank as a spraying mix tank, assuming the other mix tank has sufficient lawn treatment mixture. By alternating spraying and filling between two mix tanks, there is continuous availability of consistent lawn treatment mixture, and minimal leftover lawn treatment mixture when a treatment process concludes.

Some example lawn spraying methods, apparatus, systems and articles of manufacture disclosed herein include an automatic lawn treatment mode to apply targeted lawn treatment. Some example techniques include identifying one or more target(s) (e.g., weeds, areas requiring fertilization, etc.) utilizing one or more camera(s) (e.g., attached to the front of the tractor) and spraying the target(s) at times when nozzles are positioned over the target(s). In some examples, targets are detected based on a shape identified in an image captured by the camera(s), a texture identified in an image captured by the camera(s), a pattern identified in a series of images (e.g., of a shape approaching the tractor), a color identified in an image, in addition to other image characteristics. For example, the system may recognize dandelions or other undesired plants that may be encountered by the tractor.

In some examples, machine learning can additionally or alternatively be utilized to train a model (e.g., a neural network) for target identification and subsequently analyze images captured by the camera(s) against the model to identify targets. For example, the drive may inform the control system when to spray and the system may use that information with the optical information to “learn” when to spray.

Example lawn spraying apparatus disclosed herein include a plurality of nozzles that can individually actuate, where ones of the plurality of nozzles are directed toward a relatively small spray area (relative to the overall spray area reach of the lawn spraying system). By identifying and spraying specific targets, example methods, apparatus, systems and articles of manufacture disclosed herein enable highly efficient lawn treatment which more effectively addresses specific needs of the lawn (e.g., spraying weeds, fertilizing low-growth areas, etc.) and wastes minimal amounts of lawn treatment mixture by not spraying areas where treatment is not required. Further, the lawn treatment steps can be performed automatically: the lawn treatment mixture is prepared automatically as it is required, spray targets are identified automatically as the tractor travels across the lawn, and the spray targets are sprayed by one or more nozzle(s) when the nozzle(s) are positioned over the spray targets.

In some example lawn spraying methods, apparatus, systems and articles of manufacture disclosed herein, positioning data is used to generate, update and analyze maps of lawn treatment applications to enable more efficient and effective long-term treatment solutions. For example, some tractors include global positioning system (GPS) receivers that are able to track a location of the tractor, and store location information in conjunction with data pertaining to lawn treatment activity as mapping data. In some examples, this mapping data can be utilized to further improve the efficiency with which lawn treatments are utilized by avoiding repeated spraying of a target more than desired.

In some examples, when a spray target is identified based on image data from the one or more camera(s) attached to the tractor, a query is placed relative to the mapping data to determine whether the spray target has been sprayed within a threshold time period, and to subsequently suppress spraying if the spray target has been sprayed within the time period. Such mapping data can be further utilized to provide an operator with efficiency-improving data outputs regarding an appropriate lawn treatment schedule based on observed spray targets. For example, if the lawn spraying system identifies a large patch of a specific spray target (e.g., dandelions, chickweed, etc.) at a specific location on a lawn, the lawn spraying system can alert, remind, or otherwise inform the operator of an appropriate future time to travel to this location and initiate spraying of these previously identified targets, based on known best-practices for the type of spray target (e.g., dandelions, chickweed, etc.). In some examples, the lawn spraying system can additionally update the models when spray targets are subsequently encountered (e.g., as determined by the image data and the location data) based on changes in the qualities of the spray target (e.g., an indication of improvement, such as a previously sprayed weed being less prominent in new images).

Some example lawn spraying methods, apparatus, systems and articles of manufacture disclosed herein further include an auto-cleanout feature, enabling the lawn spraying system to clean out feed lines, valves, nozzles, and other components of the lawn spraying system automatically. In some examples, the lawn spraying system provides instructions to an operator to remove any currently attached concentrate bottle and slowly drive the tractor over an open area to enable several operations to automatically clean out the lawn spraying system using the main carrier (e.g., water). In contrast to conventional techniques, this auto-cleanout method quickly, and with little operator effort, ensures that system components are cleaned of any contamination from previously used concentrate solutions.

In some examples, the lawn spraying system can communicate (e.g., via WiFi, Bluetooth, or other connection medium) with an operator's personal device (e.g., a cell phone, a tablet, a laptop, etc.) to access lawn treatment data, control operation of the tractor, receive maintenance alerts, etc.

These and other techniques, methods, apparatus, systems and articles of manufacture for efficient lawn spraying are disclosed in greater detail below.

FIG. 1Ais a rear perspective view of an implement, such as an example tractor100with which the methods, apparatus, and techniques disclosed herein may be implemented. In some examples, instead of the tractor100, the implement is a truck, a plow (e.g., a snow plow), all-terrain vehicle, combine, etc. The example tractor100includes an example rear end102including an example main carrier tank104, an example first mix tank106, an example second mix tank108, an example concentrate bottle110, an example concentrate bottle top112, an example control assembly114, an example boom116, and example nozzles118. The tractor100further includes an example front end120including an example GPS receiver122, an example brush guard124, an example front bar126, and example cameras128. The tractor100also includes an operator controller130. While the tractor100represents one possible configuration and combination of the aforementioned components, any one or more of the aforementioned components may be omitted, replaced, or alternatively configured compared to the tractor100ofFIGS. 1A and 1B.

The example main carrier tank104of the example tractor100is a storage container for a main carrier substance of a lawn treatment mixture. In some examples, the main carrier tank104stores water. The main carrier stored in the main carrier tank104can be used to dilute a concentrate substance stored in the concentrate bottle110to form a lawn treatment mixture. In some examples, the main carrier tank104is connected via one or more valves and one or more lines (e.g., hoses, pipes, etc.) to the first mix tank106, the second mix tank108, and the concentrate bottle110. In some examples, the main carrier tank104is positioned so as to gravity-feed main carrier to the first mix tank106and the second mix tank108. Further detail of an example configuration of the main carrier tank104is illustrated and described in association withFIG. 2.

The example first mix tank106of the example tractor100is a storage container utilized in to store a mixture of the main carrier substance stored in the main carrier tank104and the concentrate substance stored in the concentrate bottle110. In some examples, the first mix tank106includes, or is connected to, one or more fluid level sensors to monitor the lawn treatment mixture level in the first mix tank106. The second mix tank108is substantially duplicative of the first mix tank106, to enable alternation between preparing lawn treatment mixture in one of the first and second mix tanks106,108, while the other one of the first and second mix tanks106,108is used to supply the boom116with lawn treatment mixture as required. In some examples, the first mix tank106and the second mix tank108may have different dimensions and/or configurations to enable alternate use cases. For example, the first mix tank106may have a larger volume than the second mix tank108and/or may serve a different function than the second mix tank108. In some examples, the first mix tank106may store a first lawn treatment mixture and the second mix tank108may store a second, chemically different, lawn treatment mixture.

The example concentrate bottle110of the example tractor100is a storage container for a concentrate substance that is connected to the tractor100. In some examples, the concentrate bottle110includes a weed spraying concentrate, a fertilization concentrate, or some other lawn treatment substance to be combined with a main carrier (e.g., water) and thereafter sprayed onto a lawn. In some examples, the concentrate bottle110is connected to a pump to pump the concentrate substance to the first mix tank106and/or the second mix tank108to create a lawn treatment mixture. An example configuration of a concentrate bottle110connected to a direct injection pump is illustrated inFIG. 2.

The example concentrate bottle top112of the example tractor100is a top (e.g., a cap, lid, etc.) to attach to the concentrate bottle110. In some examples, the concentrate bottle top112is a universal top that is adjustable to fit with any concentrate bottle geometry that may be utilized in the lawn spraying system. In some examples, an adapter could be used with the concentrate bottle top112to connect to the concentrate bottle110. In such examples, the concentrate bottle top112is continually connected to the tractor100, and the concentrate bottle110is replaceable to enable use of a plurality of different concentrate substances with the lawn spraying system. Thus, concentrate substances can be easily replaced based on lawn requirements, without wasting any concentrate substance remaining in the concentrate bottle110after targeted spraying is complete. In some examples, the concentrate bottle110is purchased or obtained with its own concentrate bottle top, which is then removed and replaced with the concentrate bottle top112of the tractor100. In some examples, the concentrate bottle top112can be detached from the concentrate bottle110and placed in a drain position to commence an auto-cleanout procedure. With the concentrate bottle top112in the drain position, valves can be opened to allow main carrier substance (e.g., water) to traverse the lines (e.g., pipes, hoses, etc.) connecting the main carrier tank104and the concentrate bottle top112to clean out these lines, thereby removing any remaining concentrate substance following a lawn treatment operation.

The example control assembly114of the example tractor100includes components to control the lawn spraying system of the tractor100. In some examples, the control assembly114includes an electronic control module to identify spray targets, to monitor and control filling of the first and second mix tanks106,108, to actuate the nozzles118for spraying lawn treatment, to perform an auto-cleanout of the lawn spraying system, and/or to perform numerous other tasks. The control assembly114further includes a variety of valves, lines (e.g., hoses, pipes, etc.), pumps, and other components that can be controlled by the electronic control module. The control assembly114includes a plurality of connections to receive data (e.g., at the electronic control module) from the cameras128, fluid level data for the first and second mix tanks106,108and statuses of any valves and/or pumps that enable connections between the main carrier tank104, the first mix tank106, the second mix tank108, the concentrate bottle110, the boom116, and/or the nozzles118. A detailed schematic of a configuration of the aforementioned components that are included in the control assembly114and/or interact with the control assembly114is illustrated and described in association withFIG. 2.

The example boom116of the example tractor100is an elongated structure connected to the first mix tank106and the second mix tank108. In some examples, the boom includes the nozzles118to enable spraying of the lawn treatment mixture. The boom116defines the limits of the lawn spraying system's spraying range. In some examples, the boom116extends the entire width of the tractor100. In some examples, the boom116extends beyond the width of the tractor100for additional spraying range.

The example nozzles118are disposed on the boom116and enable precise spraying of targets with lawn treatment mixture from the first and second mix tanks106,108. The boom116can include any number of nozzles118, with spraying precision improving with a higher number of the nozzles118. For example, if the boom116includes ten nozzles spaced eight inches apart, spray targets can be more accurately sprayed than if the boom116includes five nozzles spaced at sixteen inches apart. This improvement in spraying precision by utilizing a plurality of individually-controllable nozzles provides efficiency improvements by utilizing less lawn treatment mixture while still providing coverage of the spray targets. In some examples, ones of the nozzles118include individual valves (e.g., valves specifically controlling flow to ones of the nozzles118), to enable flow of the lawn treatment mixture through ones of the nozzles118when desired. The nozzles118can be oriented and/or directed in any direction (e.g., facing directly down toward the lawn treatment surface, facing down and away from the tractor100, etc.). Ones of the nozzles118may be oriented in different directions. In some examples, the nozzles118may have spray patterns that are columnar, conical, hemispherical, and/or any other spray pattern shape.

In some examples, the components on the rear end102(e.g., the main carrier tank104, the first mix tank106, the second mix tank108, the concentrate bottle110, the control assembly114, the boom116, the nozzles118, etc.) can be disposed in alternative positions on the tractor100. For example, one or more of these components can be disposed on a left or right side of the tractor100, or on the front end120of the tractor100. Similarly, components on the front end120(e.g., the GPS receiver122, the brush guard124, the front bar126, the cameras128, etc.) can be disposed in alternative positions on the tractor100. For example, the GPS receiver122could alternatively be disposed on the rear end102of the tractor100.

The example GPS receiver122of the example tractor100receives location information (e.g., global positioning data) for the tractor100. The GPS receiver122can store the location information, and/or transmit the location information to the control assembly114for storage and use in historical tracking of lawn treatments. The GPS receiver122can be any hardware and/or software capable of determining a location of the tractor100. In some examples, the GPS receiver122is enabled when an operator selects an auto-spray function, to enable automatic tracking of locations of sprayed targets. In some examples, the GPS receiver122can be enabled or disabled independently of the auto-spray functionality, such as by the enabling a “target mapping” mode. In some examples, the GPS receiver122can calculate speed data to aid in determining when lawn treatment should be sprayed. In some examples, in addition or alternatively to the tractor100including the GPS receiver122, the tractor100can include a speed sensor and/or a directional sensor (e.g., a steering angle sensor). For example, a position of the tractor100could be determined based on a speed from the speed sensor and a direction of the tractor100from the directional sensor. In some examples, the system may determine speed using visual odometry and/or radar.

The example brush guard124of the example tractor100is a structure mounted to the front end120of the tractor100. In some examples, the brush guard124is attached to the tractor100to provide protection to the front end120of the tractor100. In some examples, the brush guard124includes a front bar126to which the cameras128are mounted. In some examples, the front bar126that can be used for attaching the cameras128or other accessories is a separate component from the brush guard124, and is instead directly connected to the front end120.

The example cameras128of the example tractor100are mounted to the front bar126and angled to capture images of the lawn ahead of the tractor100to identify targets approaching the tractor100. In the illustrated example ofFIG. 1A, only one of the cameras128is visible. In some examples, the cameras128may be a single camera. In some examples, the cameras128are in communication with the control assembly114to enable processing of images captured by the cameras128to identify targets. In some examples, the cameras128are enabled when an operator enables an auto-spray mode of the tractor100. In some examples, the tractor100includes one or more of the cameras128mounted at the rear end102of the tractor100to monitor the nozzles118and close a feedback loop with the control assembly114.

The example operator controller130of the example tractor100is a controller for an operator to control functions of the tractor100, such as controlling a mode of the tractor100. In some examples, the operator controller130is a panel built into the tractor100, with buttons pertaining to different controls. In some examples, the operator controller130is a personal device (e.g., a smart phone, a tablet, a laptop, etc.) that is connected (e.g., via Wi-Fi, via Bluetooth, etc.) to the control assembly114. In some examples, the operator controller130includes an interface to view data from the cameras128, data from the GPS receiver122, data from fluid level sensors, or data from any other components of the tractor100. In some examples, the operator controller130enables an operator to put the lawn spraying system in an auto-spray mode, an auto-cleanout mode, a manual spray mode, or other operational modes. The operator controller130can additionally or alternatively allow the operator to enable or disable various components of the tractor100(e.g., disable the GPS receiver122, disable the cameras128, etc.). The operator controller130is in communication with an electronic control module which interprets and acts upon signals associated with the operator controller130and other sensors and actuators on the tractor100.

FIG. 1Bis a front perspective view of the example tractor100ofFIG. 1A. In the front perspective view, both of the cameras128are visible, as well as a full view of the GPS receiver122. Further, the brush guard124and front bar126are fully visible. While the example tractor100ofFIGS. 1A-1Bdepict two of the cameras128, any numbers of cameras can be utilized.

Further, in the front perspective view of the tractor100, the boom116is shown to extend beyond the width of the tractor100. This extension can be beneficial to enabling a large spray area, resulting in fewer pass-overs of a lawn being required to effectively apply lawn treatment. The geometry of the nozzles118is additionally clearly shown, with the nozzles118protruding downward toward a lawn surface from the boom116.

FIG. 2is an example schematic of an example lawn spraying system200of the tractor100ofFIGS. 1A-1B. The lawn spraying system200includes some components visible in the rear perspective view of the tractor100ofFIG. 1Aand/or visible in the front perspective view of the tractor100ofFIG. 1B(e.g., the main carrier tank104, the first mix tank106, the second mix tank108, the concentrate bottle110, the boom116, the nozzles118, the GPS receiver122and the cameras128). Further, the lawn spraying system200includes components not visible in the views ofFIGS. 1A and 1B, such as components contained within the control assembly114, or components obscured by other visible components.

The example lawn spraying system200ofFIG. 2includes an example electronic control module202, an example first valve204, an example second valve206, an example direct injection pump208, an example third valve210, an example fourth valve212, an example pneumatic pump214, an example fifth valve216, an example first fluid level sensor218, and an example second fluid level sensor220.

For clarity, components in the schematic of the lawn spraying system200are depicted using symbols and are not necessarily laid out in an orientation or grouping representative of the components' possible physical disposition on the tractor100. In some examples, the electronic control module202, the first valve204, the second valve206, the direct injection pump208, the third valve210, the fourth valve212, the pneumatic pump214, and the fifth valve216are contained within or directly around the control assembly114of the tractor100ofFIGS. 1A-1B. However, these components are arranged in the schematic to be easily distinguishable and understandable while illustrating their interconnections and structures. Hence, the schematic is merely illustrative and does not limit the structural possibilities of the lawn spraying system200.

The example electronic control module202of the lawn spraying system200processes data inputs from components of the lawn spraying system200and provides control signals to components of the lawn spraying system200. In some examples, the electronic control module202processes image data inputs from the cameras128to identify spray targets in the lawn. In some examples, the electronic control module202accesses GPS data from the GPS receiver122to store location information associated with spray targets. In some examples, the electronic control module202generates, updates, and utilizes maps of spray targets to track times, locations, and/or other data associated with targets that have been sprayed with lawn treatment mixture. In some examples, the electronic control module202processes fluid level data from the first and second fluid level sensors218,220to determine lawn treatment mixture levels associated with the first mix tank106and the second mix tank108. The example electronic control module202can utilize the lawn treatment mixture levels to determine when the first mix tank106and/or the second mix tank108should be filled, should be pressurized, and/or should be utilized to supply the boom116and ultimately the nozzles118with lawn treatment mixture. In some examples, to enable preparation and spraying of the lawn treatment mixture, the electronic control module202issues control signals to the first valve204, the second valve206, the direct injection pump208, the third valve210, the fourth valve212, the pneumatic pump214, and the fifth valve216. In some examples, the electronic control module202issues control signals to individual ones of the nozzles118, or solenoid valves associated with the nozzles118, to enable targeted spraying of the lawn treatment mixture.

In some examples, the electronic control module202can receive speed data from the GPS receiver122. For example, the GPS receiver122can provide data indicating how fast the tractor100is traveling to assist the electronic control module202in determining whether to slow down the tractor100to ensure that the spray target can be sprayed. In some examples, the electronic control module202can utilize the speed data to determine a time to begin and terminate spraying of the spray target based on the current speed of the tractor100. In some examples, the electronic control module202can also receive data from other sensors, such as a concentrate top sensor, which could indicate whether the concentrate bottle top112is secured to the concentrate bottle110(e.g., containing the concentrate). This could be utilized as a safety feature, as well as to indicate when the top of the concentrate bottle top112is not fastened to the concentrate bottle110, which may be desirable when performing an auto-cleanout procedure.

In some examples, the electronic control module202receives control mode selection data based from the operator controller130. For example, the electronic control module202can, in response to receive control mode selection data indicating that an auto-spray mode has been selected, initiate spray target recognition, lawn treatment mixture preparation, and spraying. Further detail of the electronic control module202is illustrated and described in association withFIG. 3.

The example first valve204of the lawn spraying system200controls a connection between the main carrier tank104and the first mix tank106and the second mix tank108. In some examples, the first valve204is a three-way valve, enabling connection of the main carrier tank104to one of the first mix tank106or the second mix tank108at a given time. In such examples, main carrier substance can be supplied to one of the first mix tank106or the second mix tank108, while the other one of the first and second mix tanks106,108can be pressurized and sprayed onto identified targets, assuming sufficient lawn treatment mixture levels. In some examples, the first valve204is actuated by the electronic control module202to control filling of the first mix tank106and/or the second mix tank108. In some examples, the first valve204can be positioned to disable connection to both the first and second mix tanks106,108, such as, for example, if both the first and second mix tanks106,108are full (e.g., the first and second mix tanks106,108satisfy a fluid level threshold according to the respective first fluid level sensor218and the second fluid level sensor220).

The example second valve206of the lawn spraying system200controls a connection between the main carrier tank104, the concentrate bottle110, and the direct injection pump208. In some examples, the second valve206is a three-way valve, enabling connection of the concentrate bottle110to the direct injection pump208to supply the first and second mix tanks106,108with concentrate substance, or enabling connection of the main carrier tank104to the line feeding the concentrate bottle110or the line including the direct injection pump208to enable cleaning of these lines. For example, during an automatic clean-out operation, the second valve206can be actuated to connect the main carrier tank104to the line that connects to the concentrate bottle110. When the concentrate bottle top112is removed from the concentrate bottle110, and the second valve206is in this clean-out position, main carrier can flow (e.g., via gravity) out the concentrate bottle top112to clean out this line. In some examples, the second valve206is actuated by the electronic control module202based on whether an operator has selected a lawn treatment spraying mode or an auto-cleanout mode.

The example direct injection pump208of the lawn spraying system200pumps concentrate substance from the concentrate bottle110through a line connected to the first and second mix tanks106,108. In some examples, unlike the main carrier substance, which in some examples flows due to gravity to the first and second mix tanks106,108, the higher viscosity of the concentrate substance and the positioning of the concentrate bottle110necessitates pumping to supply the concentrate substance to the first and second mix tanks106,108. In some examples, the electronic control module202controls the direct injection pump208, enabling pumping of the concentrate substance when lawn treatment mixture is to be prepared.

The example third valve210of the lawn spraying system200controls a connection between the line supplying concentrate substance and the first and second mix tanks106,108. In some examples, the third valve210is a three-way valve that can be actuated to connect the line supplying concentrate substance to the first mix tank106, to connect the line supplying concentrate substance to the second mix tank108, or to connect the first and second mix tanks106,108(e.g., effectively representing an “off” state with no concentrate substance flowing through the connection). For example, if there is not a need to produce lawn treatment mixture (e.g., due to the spray mode being disabled, due to the first and second mix tanks106,108having sufficient lawn treatment mixture, etc.), the third valve210can be placed in the state connecting the first and second mix tanks106,108(e.g. the “off” state). In some examples, the third valve210is actuated by the electronic control module202to control supply of the concentrate substance to the first mix tank106and the second mix tank108.

The example fourth valve212of the lawn spraying system200controls a connection between the first and second mix tanks106,108and the boom116. In some examples, the fourth valve212is a three-way valve, enabling connection of the first mix tank106or the second mix tank108to the boom116. In some examples, the fourth valve212includes an off state, wherein neither the first mix tank106nor the second mix tank108are connected to the boom116(e.g., when the lawn spraying system200is not in a spray mode).

In some examples, the electronic control module202actuates the first valve204, the second valve206, the third valve210, and the fourth valve212in response to (1) a mode of the lawn spraying system200(e.g., “off,” “auto-spray,” “auto-cleanout,” etc.), (2) fluid level data from the first fluid level sensor218and the second fluid level sensor220, and/or (3) whether the first mix tank106or the second mix tank108is supplying lawn treatment mixture to the boom116. The electronic control module202further actuates the pneumatic pump214and the fifth valve216in response to (1) the mode of the lawn spraying system200, (2) a filling status associated with the first mix tank106or the second mix tank108, and/or (3) fluid level data from the first fluid level sensor218and the second fluid level sensor220.

The example pneumatic pump214of the lawn spraying system200enables pressurization of the first mix tank106and the second mix tank108. In some examples, when filling of the first mix tank106or the second mix tank108is complete (e.g., as indicated by fluid level data associated with the first fluid level sensor218or the second fluid level sensor220), the electronic control module202can indicate that the filled mix tank is ready to be pressurized by the pneumatic pump214. In some examples, in addition to or alternatively to using the pneumatic pump214to pressurize the first mix tank106and the second mix tank108, the tractor100can include a pump (e.g., an electric driven liquid pump) downstream from the fourth valve212to pressurize the lawn treatment mixture to be sprayed by the nozzles118.

In some examples, the pneumatic pump214is connected to the fifth valve216of the lawn spraying system200, which controls whether the pneumatic pump214pressurizes the first mix tank106or the second mix tank108. In some examples, the fifth valve216is a three-way valve, capable of connecting the pneumatic pump214to the first mix tank106, the pneumatic pump214to the second mix tank108, or connecting the first and second mix tanks106,108(e.g., representing an “off” state where the pneumatic pump214is not connected to either of the first mix tank106or the second mix tank108). In some examples, instead of, or in addition to utilizing the fifth valve216, two separate lines can be utilized, one connecting the pneumatic pump214to the first mix tank106and one connecting the pneumatic pump214to the second mix tank108.

The example first fluid level sensor218of the lawn spraying system200captures data on a lawn treatment mixture quantity in the first mix tank106. In some examples, the first fluid level sensor218provides continuous fluid level data corresponding to a specific height of fluid (e.g., lawn treatment mixture) in the first mix tank106. In some examples, the first fluid level sensor218can be one or more discrete sensors providing an indication of whether the height of the fluid is at a certain level (e.g., an upper and lower bound). For example, the first fluid level sensor218can include a discrete sensor near the bottom of the first mix tank106to indicate when a fluid level in the first mix tank106does not satisfy a lower fill threshold, and is thus insufficient for the first mix tank106to supply the boom116with lawn treatment mixture, and to indicate when the first mix tank106should be filled. In some examples, the first fluid level sensor218can additionally or alternatively include a discrete sensor near an upper portion of the first mix tank106to indicate when a fluid level in the first mix tank106satisfies an upper fill threshold and is thus sufficient to cease filling of the first mix tank106and begin utilizing the first mix tank106to supply the boom116with lawn treatment mixture. In some examples, the first fluid level sensor218provides fluid level data to the electronic control module202to enable control decisions pertaining to filling of the first mix tank106, pressurization of the first mix tank106, and/or utilization of the lawn treatment mixture in the first mix tank106for spraying targets.

The example second fluid level sensor220of the lawn spraying system200provides fluid level sensing data pertaining to the second mix tank108. In some examples, the second fluid level sensor220is similar to the first fluid level sensor218, to provide consistency in the type and format of data reported for the first mix tank106and the second mix tank108. The example second fluid level sensor220can be any type of fluid level or other type of sensor to determine a quantity of lawn treatment mixture in the second mix tank108. As is the case with the first fluid level sensor218, the second fluid level sensor220can be one or more continuous fluid level sensors, or one or more discrete fluid level sensors. In some examples, the second fluid level sensor220provides fluid level data to the electronic control module202to enable control decisions pertaining to filling of the second mix tank108, pressurization of the second mix tank108, and/or utilization of the lawn treatment mixture in the second mix tank108for spraying targets.

FIG. 3is a block diagram of the example electronic control module202constructed in accordance with the teachings of this disclosure. The electronic control module202includes an example input data analyzer302, which includes an example position data accessor304, an example fluid level analyzer306, an example map generator308, an example speed determiner310, an example mapping data analyzer312, an example concentrate top monitor314, an example spray configurator316, and an example control mode selector318. The example electronic control module202further includes an example spray target analyzer320, which includes an example imager322, an example image analyzer324, and an example spray target determiner326. The electronic control module202also includes an example output controller328, including an example status monitor330, an example pump controller332, an example valve controller334, an example nozzle controller336, an example speed selector338, and an example display controller340. The example electronic control module202additionally includes an example timer342and an example data store344.

The example input data analyzer302of the illustrated example ofFIG. 3accesses data associated with input devices (e.g., sensors, controllers, etc.) of the tractor100. The input data analyzer302can access position data (e.g., from the GPS receiver122, derived from data from a speed sensor and a directional sensor, etc.) and speed data (e.g., from the GPS receiver122, from a speed sensor such as a wheel speed sensor, etc.), fluid level data from the first and second fluid level sensors218,220, concentrate top sensor data from a sensor associated with the concentrate bottle top112, control mode selection data from the operator controller130, and/or data associated with statuses of the valves (e.g., the first, second, third, fourth, and fifth valves204,206,210,212,216) associated with the lawn spraying system200, the pneumatic pump214, and/or the direct injection pump208. In some examples, the input data analyzer302can access data associated with other sensors and/or actuators on the tractor100(e.g., a proximity sensor, a gyroscope, thermometers, etc.). In some examples, the input data analyzer302performs processing tasks on input data to enable decisions by the output controller328. The input data analyzer302can work in conjunction with the spray target analyzer320, which can serve as an input data analyzer specifically for image data from the cameras128.

The example position data accessor304of the illustrated example ofFIG. 3accesses position data from the GPS receiver122. In some examples, the position data accessor304continually accesses position data from the GPS receiver122. In some examples, the position data accessor304accesses position data in response to (1) the control mode of the tractor100(e.g., a mode of the lawn spraying system200) being set to an auto-spray mode, and/or (2) a spray target mapping functionality being enabled. The position data accessor can determine a control mode of the tractor100via the control mode selector318, and/or can determine whether a mapping functionality is enabled via the map generator308and/or the mapping data analyzer312. In some examples, the position data accessor304stores position data to the data store344. In some examples, the position data accessor304provides position data to the spray configurator316to determine times to spray a target (e.g., a first time to start spraying and a second time to conclude spraying) based on a current position of the tractor100, and/or to determine which nozzles should be utilized to spray a target based on a current position of the tractor100compared to a target.

The example fluid level analyzer306of the illustrated example ofFIG. 3accesses fluid level data from the first and second fluid level sensors218,220. In some examples, the fluid level analyzer306is enabled to monitor and analyze fluid level data whenever the control mode of the tractor100is in an auto-spray mode and/or an auto-cleanout mode. In some examples, the fluid level analyzer306analyzes the fluid level data to determine whether lawn treatment mixture in the first mix tank106and/or the second mix tank106satisfies a lower fill threshold (e.g., representing a minimum lawn treatment mixture level required to dispense the lawn treatment mixture from the respective mix tank) and/or satisfies an upper fill threshold (e.g., representing a lawn treatment mixture level at which the mix tank is sufficiently filled to begin dispensing the lawn treatment mixture). In some examples, the fluid level analyzer306, in conjunction with the control mode selector318and the status monitor330enable the electronic control module202to determine whether to fill and/or dispense lawn treatment mixture from the first mix tank106or the second mix tank108. In some examples, the fluid level data itself indicates whether a lower fill threshold and/or an upper fill threshold are satisfied, based on the first fluid level sensor218and/or the second fluid level sensor220including discrete sensors positioned at upper and lower fill threshold levels. Additionally or alternatively, the fluid level data can be continuous data representing a specific fluid level value, which the fluid level analyzer306can then compare against the upper and lower fill thresholds.

The example map generator308of the illustrated example ofFIG. 3generates maps of spray targets utilizing position data and spray target data. In some examples, the map generator308can be enabled or disabled based on an operator enabling or disabling a mapping mode. The map generator308can monitor spray targets that are sprayed by monitoring the spray target determiner326and/or the spray configurator316, and subsequently storing the spray targets in association with position data accessed by the position data accessor304at a time when the target is sprayed. The map generator308can store a time in association with the spray target and its location by accessing the time from the timer342, thereby enabling future decisions as to whether the same spray target should be sprayed based on an elapsed time since the previous spray operation. In some examples, the map generator308stores images from the cameras128in association with the spray target to enable future comparison of new images of the spray target with prior images of the spray target. Such comparison can enable intelligent decision making with respect to whether to continue spraying a target and/or how often to continue spraying the target. The map generator308can store the map of spray targets in the data store344, or in another storage location accessible by the mapping data analyzer312.

The example speed determiner310of the illustrated example ofFIG. 3accesses speed data from the GPS receiver122. In some examples, the speed determiner310can access speed data from a different sensor or data source on the tractor100(e.g., a speedometer, a speed sensor, etc.). In some examples, the speed data is directly accessed from the GPS receiver122, while in some examples the speed data is calculated based on position and time data accessed from the GPS receiver122. In some examples, the speed determiner310provides speed data to the speed selector338to provoke adjustment of the speed of the tractor100(e.g., to enable more effective/precise lawn treatment spraying). In some examples, the speed determiner310provides speed data to the spray configurator316to enable the spray configurator to set spray parameters based on the current speed of the tractor100.

The example mapping data analyzer312of the illustrated example ofFIG. 3compares newly detected spray targets against the map generated by the map generator308. In some examples, when the spray target determiner326identifies a spray target ahead of the tractor100, the mapping data analyzer312is queried to determine whether the spray target has been previously sprayed, based on its location. In some examples, the mapping data analyzer312can determine whether the spray target has been previously sprayed based on additional parameters, such as a combination of location data and images captured of previously sprayed targets. The mapping data analyzer312can additionally determine whether a spray target that has been previously sprayed requires spraying at the current time based on a spraying schedule. For example, the mapping data analyzer312can access parameters for various types of targets (e.g., dandelions, crab grass, etc.), including recommended spray frequencies. When a spray target is identified by the spray target determiner326, and the mapping data analyzer312determines that the spray target has been previously sprayed, the mapping data analyzer312can further determine whether the previous spraying was recent enough that the target should not be sprayed again at the current time, based on the type of spray target that was identified. In some examples, when the operator disables the mapping capabilities of the lawn spraying system200, the mapping data analyzer312can be bypassed and/or disabled. In some examples, the mapping data analyzer312can analyze maps of spray targets to generate, update, and/or deliver proactive schedules to the operator regarding appropriate times to perform an auto-spray operation on the lawn. For example, if the operator requests a schedule to be displayed, the mapping data analyzer312can analyze the nearby targets that have been sprayed in a recent time period (e.g., thirty days) within a threshold position of the current position of the tractor100(e.g., within one hundred meters) and provide data pertaining to an appropriate time to return to spray the previously encountered spray targets.

The example concentrate top monitor314of the illustrated example ofFIG. 3accesses concentrate top sensor data associated with the concentrate bottle top112. In some examples, the concentrate top monitor314accesses an indication of whether the concentrate bottle top112is attached to a concentrate bottle (e.g., the concentrate bottle110). In some examples, the concentrate top monitor314additionally or alternatively accesses an indication as to whether the concentrate top monitor314is free (e.g., not attached to a bottle) or is placed in a drain position (e.g., to enable main carrier substance to flow through and out of the concentrate bottle top112).

The example spray configurator316of the illustrated example ofFIG. 3determines spray configuration settings based on identified spray targets and parameters of the lawn spraying system200. In some examples, the spray configurator316is enabled when the control mode selector318indicates that the tractor100is in an auto-spray mode. The spray configurator316can, in response to the spray target determiner326identifying an upcoming spray target (e.g., a target in front of the tractor100), determine, based on indications from the fluid level analyzer306, whether fluid level data associated with the first mix tank106or the second mix tank108satisfies an upper fill threshold (e.g., associated with a “full” fluid level) and thus should be utilized to supply the boom116with lawn treatment mixture. Further, the spray configurator316can determine, based on a location of the spray target, which of the nozzles118should be actuated, and, based on data from the speed determiner310, when the nozzles should be actuated to spray the target. The spray configurator316can supply signals to the pump controller332, the valve controller334, and the nozzle controller36to actuate components to either supply concentrate substance and main carrier substance to the first mix tank106, the second mix tank108, and/or to supply the boom116with lawn treatment mixture from the first mix tank or the second mix tank108.

The example control mode selector318of the illustrated example ofFIG. 3accesses control mode selection data from the operator controller130. For example, the control mode selector318can receive data that the operator has elected for the tractor100to operate in an auto-spray mode, an auto-cleanout mode, a manual spray mode, a spray disabled mode, etc. The control mode selector318can also access signals to indicate whether features such as mapping are to be enabled. In some examples, the control mode selector318receives other mode selections and/or more detailed control mode selection data including specific component commands (e.g., enable the cameras, disable the GPS receiver, etc.). In response to accessing control mode selection data, the control mode selector318communicates with the spray configurator316, the map generator308, the spray target analyzer320, and/or the output controller328to enable or disable functions associated with different control modes. For example, in response to an operator selecting the auto-spray control mode, the control mode selector318can enable the spray target analyzer320, enable the map generator308, enable the mapping data analyzer312, and/or enable any other components of the electronic control module202to facilitate automatic lawn treatment spraying.

The example spray target analyzer320of the illustrated example ofFIG. 3receives camera data from the cameras128and processes the camera data to identify spray targets on the lawn. The spray target analyzer320can receive camera data in any format, and then sample the camera data to obtain images at an appropriate frequency (e.g., based on the speed of travel of the tractor100, the configuration of the spray target analyzer320, etc.). In some examples, the spray target analyzer320analyzes images for known parameters (e.g., shapes, textures, etc.) associated with weeds or other spray targets. In some examples, the spray target analyzer320analyzes multiple consecutive images as verification of a candidate spray target. In some examples, the spray target analyzer320includes machine learning elements, whereby a neural network is trained to identify common spray targets and subsequently compare image data from the cameras128against the neural network model to determine whether one or more spray targets are present in the image data.

The example imager322of the illustrated example ofFIG. 3accesses raw or processed camera data from the cameras128. In some examples, the imager322samples the camera data at an appropriate rate based on a speed of the tractor100, and/or based on a configuration of the spray target analyzer320. For example, if the tractor100is moving at a relatively fast speed, it may be desirable for the imager322to sample the camera data at a higher rate to ensure that spray targets are identified with sufficient time to process the spray targets and to actuate components for spraying. In some examples, the sample rate associated with the imager322is constrained based on hardware capabilities (e.g., memory availability, processing capabilities, etc.).

The example image analyzer324analyzes images to identify shapes, patterns, textures, and other characteristics of the images. In some examples, the image analyzer324groups different segments (e.g., sections) of the images based on colors and/or shapes associated with the segments. The image analyzer324can then subsequently analyze the segments to determine whether they represent a spray target (e.g., a weed, an under-fertilized area, etc.).

The example spray target determiner326operates in conjunction with the image analyzer324to identify spray targets based on the image analysis. For example, the spray target determiner326can compare a segment identified in the image analyzer324that has a specific shape, color, and/or texture with known shapes, colors, and/or textures associated with known spray targets (e.g., weeds). In some examples, the spray target determiner326utilizes image analyses associated with multiple consecutive images to identify a spray target with higher confidence. In some examples, in response to identifying a spray target, the spray target determiner326queries the mapping data analyzer312to determine whether the spray target has been sprayed previously within a threshold time. In some examples, the spray target determiner326provides information pertaining to the spray target (e.g., location, type of spray target, time, etc.) to the map generator308to add the spray target to the map. In some examples, the spray target determiner326provides information pertaining to the spray target to the spray configurator316for use in controlling components of the lawn spraying system200to spray the target.

The example output controller328of the illustrated example ofFIG. 3provides output signals to components of the lawn spraying system200. In some examples, the output controller328further includes the status monitor330to track states associated with valves, pumps, and/or other components of the lawn spraying system200. The output controller328accesses signals from the input data analyzer302and the spray target analyzer320and generates control signals based on the analyses of these components.

The example status monitor330tracks statuses of the components of the lawn spraying system200. For example, the status monitor330can track statuses of the valves (e.g., the first valve204, the second valve206, the third valve210, the fourth valve212, the fifth valve216, etc.) to determine which connections are currently available. The status monitor330can further track a status of the direct injection pump208to determine whether concentrate substance is being pumped to the first mix tank106and/or the second mix tank108. In some examples, the status monitor330tracks a status of the pneumatic pump214to determine whether it is currently, or has previously, pressurized the first mix tank106and/or the second mix tank108. In some examples, the status monitor330tracks statuses associated with the nozzles118. The status monitor330can additionally or alternatively track any other actuatable component of the lawn spraying system200.

The example pump controller332of the illustrated example ofFIG. 3issues control signals to actuate the direct injection pump208and/or the pneumatic pump214. In some examples, the pump controller332turns on the pneumatic pump214to pressurize one of the first mix tank106or the second mix tank108in response to the fluid level analyzer306determining that a fluid level of the respective mix tank satisfies an upper fill threshold. In some examples, the pump controller332turns on the direct injection pump208in response to a signal to fill the first mix tank106or the second mix tank108. In some examples, the pump controller332is responsive to a signal from the control mode selector318. For example, in response to the control mode selector318indicating that the lawn spraying system200is operating in an auto-spray mode, the pump controller332can issue signals to ensure that the pneumatic pump214pressurizes the first and second mix tanks106,108once they are filled, and that the direct injection pump208pumps concentrate substance to the first and second mix tanks106,108during filling.

The example valve controller334of the illustrated example ofFIG. 3issues control signals to the first valve204, the second valve206, the third valve210, the fourth valve212, and/or the fifth valve216of the lawn spraying system200. In some examples, the valve controller334receives signals from the spray configurator316to determine when the fourth valve212should be actuated to supply lawn treatment mixture to the boom116. In some examples, the valve controller334accesses signals from the fluid level analyzer306and the control mode selector318to actuate the first valve204, the second valve206, the third valve210, and/or the fifth valve216. For example, in response to the first fluid level sensor218of the first mix tank106indicating that a fluid level of the first mix tank106is at an upper fill threshold during a filling operation, filling is ceased by actuating the first valve204and the third valve210to stop flow of concentrate substance and main carrier substance into the first mix tank106, and the fifth valve216is actuated to connect the pneumatic pump214to the first mix tank106to pressurize the first mix tank106.

The example nozzle controller336of the illustrated example ofFIG. 3issues control signals for the nozzles118. For example, the nozzle controller336can access a signal from the spray configurator316indicating parameters for a spray operation, such as which ones of the nozzles118should be actuated, and at what time the nozzles should be actuated. To determine when to open or close ones of the nozzles118, the nozzle controller336compares a time tracked by the timer342to the spray start time indicated by the spray configurator. Similarly, the valve controller334can cease a spray operation when the timer342indicates a time corresponding to an end time for the spray operation (e.g., as indicated by the spray configurator316). In some examples, the nozzle controller336issues signals that actuate solenoid valves that are associated with ones of the nozzles118, which enable lawn treatment mixture that is flowing to the boom116to exit through nozzles.

The example speed selector338of the illustrated example ofFIG. 3issues control signals to adjust a travel speed of the tractor100. In some examples, the speed selector338can adjust a speed of the tractor100in response to a signal from the spray configurator316, the control mode selector318, and/or the speed determiner310. For example, in response to the control mode selector318indicating that the tractor100is operating in an auto-spray mode, the speed selector338can adjust the speed of the tractor100to be relatively slow to enable precise spraying and to allow time for target identification by the spray target analyzer320. In some examples, the spray target analyzer320can issue a signal to the speed selector338to slow down the tractor100if more time is required to process the camera data to identify spray targets.

The example display controller340of the illustrated example ofFIG. 4issues signals to provide information on a display of the operator controller130, or another display device accessible to the operator. For example, the display controller340can provide speed data, position data, spray configuration data, mapping data, image analysis data, target analysis data, spray scheduling data, as well as component-level data (e.g., maintenance data, current states of components, etc.) to the display of the operator controller130. In some examples, the display controller340provides such information to a mobile device of the operator (e.g., a cell phone, a tablet, etc.). The display controller340can additionally or alternatively issue signals to provide instructions to the operator on the display of the operator controller130. For example, when control mode selection data indicating an auto-cleanout mode is accessed by the control mode selector318, the display controller340can issue instructions to the operator to place the concentrate bottle top112over a drain, to drive the tractor100into an open area, etc. The display controller340can also update these instructions based on information from the concentrate top monitor314, the fluid level analyzer306, and/or other components of the input data analyzer302.

While an example manner of implementing the electronic control module202ofFIG. 2is illustrated inFIG. 3, one or more of the elements, processes and/or devices illustrated inFIG. 3may be combined, divided, re-arranged, omitted, eliminated and/or implemented in any other way. Further, the example input data analyzer302, the example position data accessor304, the example fluid level analyzer306, the example map generator308, the example speed determiner310, the example mapping data analyzer312, the example concentrate top monitor314, the example spray configurator316, the example control mode selector318, the example spray target analyzer320, the example imager322, the example image analyzer324, the example spray target determiner326, the example output controller328, the example status monitor330, the example pump controller332, the example valve controller334, the example nozzle controller336, the example speed selector338, the example display controller340, the example timer342, the example data store344and/or, more generally, the example electronic control module202ofFIG. 3may be implemented by hardware, software, firmware and/or any combination of hardware, software and/or firmware. Thus, for example, any of the example input data analyzer302, the example position data accessor304, the example fluid level analyzer306, the example map generator308, the example speed determiner310, the example mapping data analyzer312, the example concentrate top monitor314, the example spray configurator316, the example control mode selector318, the example spray target analyzer320, the example imager322, the example image analyzer324, the example spray target determiner326, the example output controller328, the example status monitor330, the example pump controller332, the example valve controller334, the example nozzle controller336, the example speed selector338, the example display controller340, the example timer342, the example data store344and/or, more generally, the example electronic control module202could be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), graphics processing unit(s) (GPU(s)), digital signal processor(s) (DSP(s)), application specific integrated circuit(s) (ASIC(s)), programmable logic device(s) (PLD(s)) and/or field programmable logic device(s) (FPLD(s)). When reading any of the apparatus or system claims of this patent to cover a purely software and/or firmware implementation, at least one of the example input data analyzer302, the example position data accessor304, the example fluid level analyzer306, the example map generator308, the example speed determiner310, the example mapping data analyzer312, the example concentrate top monitor314, the example spray configurator316, the example control mode selector318, the example spray target analyzer320, the example imager322, the example image analyzer324, the example spray target determiner326, the example output controller328, the example status monitor330, the example pump controller332, the example valve controller334, the example nozzle controller336, the example speed selector338, the example display controller340, the example timer342, the example data store344and/or, more generally, the example electronic control module202is/are hereby expressly defined to include a non-transitory computer readable storage device or storage disk such as a memory, a digital versatile disk (DVD), a compact disk (CD), a Blu-ray disk, etc. including the software and/or firmware. Further still, the example electronic control module202ofFIG. 3may include one or more elements, processes and/or devices in addition to, or instead of, those illustrated inFIG. 3, and/or may include more than one of any or all of the illustrated elements, processes and devices. As used herein, the phrase “in communication,” including variations thereof, encompasses direct communication and/or indirect communication through one or more intermediary components, and does not require direct physical (e.g., wired) communication and/or constant communication, but rather additionally includes selective communication at periodic intervals, scheduled intervals, aperiodic intervals, and/or one-time events.

As mentioned above, the example processes ofFIGS. 4A-4B, 5A-5B, 6, 7, and 8A-8Bmay be implemented using executable instructions (e.g., computer and/or machine readable instructions) stored on a non-transitory computer and/or machine readable medium such as a hard disk drive, a flash memory, a read-only memory, a compact disk, a digital versatile disk, a cache, a random-access memory and/or any other storage device or storage disk in which information is stored for any duration (e.g., for extended time periods, permanently, for brief instances, for temporarily buffering, and/or for caching of the information). As used herein, the term non-transitory computer readable medium is expressly defined to include any type of computer readable storage device and/or storage disk and to exclude propagating signals and to exclude transmission media.

“Including” and “comprising” (and all forms and tenses thereof) are used herein to be open ended terms. Thus, whenever a claim employs any form of “include” or “comprise” (e.g., comprises, includes, comprising, including, having, etc.) as a preamble or within a claim recitation of any kind, it is to be understood that additional elements, terms, etc. may be present without falling outside the scope of the corresponding claim or recitation. As used herein, when the phrase “at least” is used as the transition term in, for example, a preamble of a claim, it is open-ended in the same manner as the term “comprising” and “including” are open ended. The term “and/or” when used, for example, in a form such as A, B, and/or C refers to any combination or subset of A, B, C such as (1) A alone, (2) B alone, (3) C alone, (4) A with B, (5) A with C, (6) B with C, and (7) A with B and with C.

Example machine readable instructions400that may be executed by the electronic control module202to efficiently spray lawns are illustrated inFIGS. 4A-4B. With reference to the preceding figures and associated descriptions, the example machine readable instructions400ofFIG. 4Abegin with the electronic control module202determining whether spray mode is enabled (Block402). In some examples, the control mode selector318determines whether spray mode is enabled. For example, an operator can select a spray mode setting on the operator controller130of the tractor100ofFIGS. 1A-1B, resulting in the control mode selector318receiving control mode selection data indicating whether or not the spray mode is enabled. In response to the spray mode being enabled, processing transfers to blocks404,406, and408. Conversely, in response to spray mode not being enabled, processing terminates.

At block404, the example electronic control module202prepares spray solution. For example, the electronic control module202issues a series of commands to components of the tractor100to prepare spray solution. Detailed instructions to prepare spray solution are illustrated and described in connection withFIGS. 5A-5B.

At block406, the example electronic control module202supplies spray solution to the boom of the tractor. For example, the electronic control module202issues a series of commands to components of the tractor100to supply spray solution to the boom116. Detailed instructions to supply spray solution to the boom are illustrated and described in connection withFIGS. 5A-5B.

At block408, the example electronic control module202accesses camera data. In some examples, the imager322accesses camera data (e.g., images, video, etc.). For example, the imager322can access camera data from the cameras128of the tractor100.

At block410, the example electronic control module202accesses speed data. In some examples, the speed determiner310accesses speed data. For example, the speed determiner310can receive speed data from the GPS receiver122on the tractor100. The speed determiner310can receive speed data from any sensor and/or measurement device on the tractor100, and/or can receive data that can be utilized to infer speed data (e.g., position data, acceleration data, etc.). In some examples, speed data may not be available, in which case execution of the instructions automatically proceeds to block412.

At block412, the example electronic control module202accesses position data. In some examples, the position data accessor304accesses position data. For example, the position data accessor304can access position data from the GPS receiver122on the tractor100. In some examples, position data may not be available, in which case execution of the instructions automatically proceeds to block414.

At block414, the example electronic control module202determines whether mapping data is available. For example, the mapping data analyzer312can be queried to determine whether mapping data is available. In some examples, position data from the position data accessor304is utilized to query the mapping data analyzer312to identify whether mapping data exists for a specific location. In response to mapping data being available, processing transfers to block430ofFIG. 4B. Conversely, in response to mapping data not being available, processing transfers to block416.

At block416, the example electronic control module202analyzes camera data to identify one or more spray target(s). In some examples, the spray target analyzer320analyzes camera data to identify one or more spray target(s). Detailed instructions to analyze camera data to identify one or more spray targets are illustrated and described in connection withFIG. 7.

At block418, the example electronic control module202determines whether one or more spray target(s) have been identified. In some examples, the spray target determiner326determines whether one or more spray target(s) have been identified. In response to one or more spray target(s) being identified, processing transfers to block420. Conversely, in response to no spray target being identified, processing transfers to block408.

At block420, the example electronic control module202adjusts the speed of travel of the tractor to enable spraying. In some examples, the speed selector338adjusts the speed of the tractor100to enable spraying. For example, if the spray target determiner326identifies a spray target approach the tractor100, and, based on data from the speed determiner310, there will be suboptimal spray conditions at the current speed, the speed selector338adjusts the speed of travel to slow down the tractor100. In some examples, the speed selector338adjusts a speed to be at a specific value, below a threshold, and/or in a range in response to the control mode selector318indicating that an auto-spray mode is enabled.

At block422, the example electronic control module202determines a spray start time and duration. In some examples, the spray configurator316determines a spray start time and duration. For example, the spray configurator316can determine how long it will be until a spray target is positioned under one of the nozzles118of the tractor100based on information from the spray target determiner326and the speed determiner310, and thereby determine a start time for the spray operation. Similarly, the spray configurator316can determine a spray duration based on the size of the spray target using data from the spray target determiner326, and based on the speed of the tractor100from the speed determiner310. In some examples, the mapping data analyzer312can provide information to the spray configurator to help determine a size and/or position of the spray target to enhance the ability of the spray configurator316to accurately determine a start time and a duration.

At block424, the example electronic control module202determines whether the start time has been reached. In some examples, the timer342can be used to determine whether the start time has been reached. For example, the spray configurator316can compare the start time with a current time tracked by the timer342to determine whether the start time has been reached. In response to the start time being reached, processing transfers to block424. Conversely, in response to the start time not being reached, processing remains at block424.

At block426, the example electronic control module202sprays target(s) by actuating nozzles associated with spray targets for the spray duration. In some examples, the nozzle controller336actuates the nozzles118of the tractor100to spray target(s) for the spray duration. In some examples, the valve controller334actuates the fourth valve212to supply the boom116with lawn treatment mixture from the first mix tank106or the second mix tank108, depending on fluid level data accessed by the fluid level analyzer306. In some examples, the spray configurator316indicates to the nozzle controller336the ones of the nozzles118that should be actuated to spray the target(s). The valve controller334can maintain the position of the fourth valve212, and the nozzle controller336can retain the position of the ones of the nozzles118that are actuated, throughout the entire spray duration.

At block428, the example electronic control module202determines whether a spray mode is enabled. In some examples, the control mode selector318determines whether spray mode is enabled. In response to the spray mode being enabled, processing transfers to block408. Conversely, in response to spray mode not being enabled, processing terminates.

The example machine readable instructions400continue inFIG. 4B. With reference to the preceding figures and associated descriptions, the example machine readable instructions400continue with the example electronic control module202accessing mapping data (Block430). In some examples, the mapping data analyzer312accesses mapping data. In some examples, the position data accessed by the position data accessor304is used to query the mapping data analyzer312to obtain relevant mapping data for a current position of the tractor100.

At block432, the example electronic control module202determines whether one or more spray target(s) have been identified. In some examples, the spray target determiner326determines whether one or more spray target(s) have been identified. In response to one or more spray target(s) being identified, processing transfers to block434. Conversely, in response to no spray target being identified, processing transfers to block448.

At block434, the example electronic control module202determines whether one or more spray target(s) have been previously sprayed within a threshold time window according to mapping data. In some examples, the mapping data analyzer312determines whether one or more spray target(s) have been previously sprayed within a threshold time window by comparing one or more characteristics (e.g., a color, shape, etc.) of a spray target from the spray target determiner326and/or position data (e.g., from the GPS receiver122of the tractor100) with mapping data pertaining to previously spray target(s). In some examples, the mapping data analyzer312can compare a time from the timer342with a previous spray time to determine whether a target was sprayed within a threshold time window (e.g., within the last five days, within the last week, etc.). In response to the one or more spray target(s) having been previously sprayed within the threshold time window, processing transfers to block436. Conversely, in response to the one or more spray target(s) not having been sprayed within the threshold time window, processing transfers to block438.

At block436, the example electronic control module202designates the spray target(s) as recently sprayed and does not spray the spray target(s). In some examples, the map generator308and/or the mapping data analyzer312designate the spray target(s) as recently sprayed and provide an indication to the spray configurator316to not initiate spraying of the spray target(s).

At block438, the example electronic control module202adjusts the speed of travel of the tractor to enable spraying. In some examples, the speed selector338adjusts the speed of the tractor100to enable spraying. In some examples, the speed selector338adjusts a speed to be at a specific value, below a threshold, and/or in a range in response to the control mode selector318indicating that an auto-spray mode is enabled.

At block440, the example electronic control module202determines a spray start time and duration. In some examples, the spray configurator316determines a spray start time and duration. For example, the spray configurator316can determine how long it will be until a spray target is positioned under one of the nozzles118of the tractor100based on information from the spray target determiner326and the speed determiner310, and thereby determine a start time for the spray operation. Similarly, the spray configurator316can determine a spray duration based on the size of the spray target using data from the spray target determiner326, and based on the speed of the tractor100from the speed determiner310.

At block442, the example electronic control module202determines whether the start time has been reached. In some examples, the timer342can be used to determine whether the start time has been reached. The spray configurator316can compare the start time with a current time tracked by the timer342to determine whether the start time has been reached. In response to the start time being reached, processing transfers to block444. Conversely, in response to the start time not being reached, processing remains at block442.

At block444, the example electronic control module202sprays target(s) by actuating nozzles associated with spray targets for the spray duration. In some examples, the nozzle controller336actuates the nozzles118of the tractor100to spray target(s) for the spray duration. In some examples, the valve controller334actuates the fourth valve212to supply the boom116with lawn treatment mixture from the first mix tank106or the second mix tank108, depending on fluid level data accessed by the fluid level analyzer306. In some examples, the spray configurator316indicates to the nozzle controller336the ones of the nozzles118that should be actuated to spray the target(s). The valve controller334can maintain the position of the fourth valve212, and the nozzle controller336can retain the position of the ones of the nozzles118that are actuated, throughout the spray duration.

At block446, the example electronic control module202stores a position of the spray target in the mapping data. In some examples, the map generator308stores a position of the spray target in the mapping data. In some examples, the map generator308stores characteristics of the spray target (e.g., a size of the spray target, a color of the spray target, a texture of the spray target, etc.) and/or a time associated with the spray operation performed on the spray target, in addition to storing the position data from the GPS receiver122.

At block448, the example electronic control module202determines whether a spray mode is enabled. In some examples, the control mode selector318determines whether spray mode is enabled. In response to the spray mode being enabled, processing transfers to block408ofFIG. 4A. Conversely, in response to spray mode not being enabled, processing terminates.

Example machine readable instructions500that may be executed by the electronic control module202to prepare spray solution are illustrated inFIGS. 5A-5B. With reference to the preceding figures and associated descriptions, the example machine readable instructions500ofFIG. 5Abegin with the electronic control module202determining whether a spray mode is enabled (Block502). In some examples, the control mode selector318determines whether spray mode is enabled. In response to the spray mode being enabled, processing transfers to block408ofFIG. 4A. Conversely, in response to spray mode not being enabled, processing returns to the machine readable instructions400ofFIG. 4A.

At block504, the example electronic control module202accesses fluid level sensor data for first and second mix tanks. In some examples, the fluid level analyzer306accesses fluid level sensor data from the first fluid level sensor218associated with the first mix tank106and the second fluid level sensor220associated with the second mix tank108.

At block506, the example electronic control module202determines whether the first mix tank satisfies an upper fill threshold. In some examples, the fluid level analyzer306compares fluid level data from the first fluid level sensor218to the upper fill threshold to determine whether the fluid level of the first mix tank106satisfies the upper fill threshold. In some examples, the upper fill threshold is set to a level at which a mix tank is considered full and ready to be dispensed. In response to the first mix tank satisfying the upper fill threshold, processing transfers to block520ofFIG. 5B. Conversely, in response to the first mix tank not satisfying the upper fill threshold, processing transfers to block508.

At block508, the example electronic control module202determines whether the first mix tank is currently supplying fluid to the boom. In some examples, the status monitor330determines whether the first mix tank106is currently providing fluid (e.g., lawn treatment mixture) to the boom116by analyzing a position of the fourth valve212. If the fourth valve212is actuated such that the first mix tank106is connected to the boom116, the first mix tank106supplies fluid to the boom116. In response to the first mix tank supplying fluid to the boom, processing transfers to block520ofFIG. 5B. Conversely, in response to the first mix tank not supplying fluid to the boom, processing transfers to block510.

At block510, the example electronic control module202actuates the first valve to connect the main carrier tank to the first mix tank to fill the first mix tank. In some examples, the valve controller334actuates the first valve204to connect the main carrier tank104to the first mix tank106to fill the first mix tank106.

At block512, the example electronic control module202actuates the third valve to connect the concentrate bottle to the first mix tank to fill the first mix tank. In some examples, the valve controller334actuates the third valve210to connect the concentrate bottle110to the first mix tank106to fill the first mix tank106. When the concentrate substance from the concentrate bottle110is mixed with the main carrier substance from the main carrier tank104, a lawn treatment mixture is formed.

At block514, the example electronic control module202determines whether the first mix tank satisfies an upper fill threshold. In some examples, the fluid level analyzer306analyzes fluid level data from the first fluid level sensor218to determine whether the first mix tank106satisfies an upper fill threshold. In response to the first mix tank106satisfying the upper fill threshold, processing transfers to block516. Conversely, in response to the first mix tank106not satisfying the upper fill threshold, processing remains at block514.

At block516, the example electronic control module202actuates the first valve and the third valve to the “OFF” position. In some examples, the valve controller334actuates the first valve204to the “OFF” position and actuates the third valve210to the “OFF” position, thereby ending filling of the first mix tank106.

At block518, the example electronic control module202pressurizes the first mix tank. In some examples, the pump controller332actuates the pneumatic pump214to an “ON” state, and the valve controller334connects the pneumatic pump214to the first mix tank106by actuating the fifth valve216. The example electronic control module202may include a pressure sensor to determine when the first mix tank106is sufficiently pressurized and then indicate to the pump controller332to turn the pneumatic pump214to an “OFF” state, and indicate to the valve controller334to actuate the fifth valve216to an “OFF” state. In some examples, the pneumatic pump214is configured to be “ON” for a specified time (e.g., five seconds, ten seconds, etc.) to pressurize the first mix tank106, and turn off after this time period. The timer342can be used to track the amount of time a pressurization process has been running. In response to the pneumatic pump214being switched to an “OFF” state by the pump controller332, the valve controller334can actuate the fifth valve216to the “OFF” state.

The example machine readable instructions500continue inFIG. 5B. With reference to the preceding figures and associated descriptions, the example machine readable instructions500continue with the example electronic control module202determining whether the second mix tank satisfies an upper fill threshold (Block520). In some examples, the fluid level analyzer306compares fluid level data from the second fluid level sensor220to the upper fill threshold to determine whether the fluid level of the second mix tank108satisfies the threshold. In some examples, the upper fill threshold is set to a level at which a mix tank is considered full and ready to be dispensed. In response to the second mix tank satisfying the upper fill threshold, processing transfers to block502ofFIG. 5A. Conversely, in response to the second mix tank not satisfying the upper fill threshold, processing transfers to block522.

At block522, the example electronic control module202determines whether the second mix tank is currently supplying fluid to the boom. In some examples, the status monitor330determines whether the second mix tank108is currently providing fluid (e.g., lawn treatment mixture) to the boom116by analyzing a position of the fourth valve212. If the fourth valve212is actuated such that the second mix tank108is connected to the boom116, the second mix tank108supplies fluid to the boom116. In response to the second mix tank supplying fluid to the boom, processing transfers to block502ofFIG. 5A. Conversely, in response to the second mix tank not supplying fluid to the boom, processing transfers to block524.

At block524, the example electronic control module202actuates the first valve to connect the main carrier tank to the second mix tank to fill the second mix tank. In some examples, the valve controller334actuates the first valve204to connect the main carrier tank104to the second mix tank108to fill the second mix tank108.

At block526, the example electronic control module202actuates the third valve to connect the concentrate bottle to the second mix tank to fill the second mix tank. In some examples, the valve controller334actuates the third valve210to connect the concentrate bottle110to the second mix tank108to fill the second mix tank108. When the concentrate substance from the concentrate bottle110is mixed with the main carrier substance from the main carrier tank104, a lawn treatment mixture is formed.

At block528, the example electronic control module202determines whether the second mix tank satisfies an upper fill threshold. In some examples, the fluid level analyzer306analyzes fluid level data from the second fluid level sensor220to determine whether the second mix tank108satisfies an upper fill threshold. In response to the second mix tank108satisfying the upper fill threshold, processing transfers to block530. Conversely, in response to the second mix tank108not satisfying the upper fill threshold, processing remains at block528.

At block530, the example electronic control module202actuates the first valve and the third valve to the “OFF” position. In some examples, the valve controller334actuates the first valve204to the “OFF” position and actuates the third valve210to the “OFF” position, thereby ending filling of the second mix tank108.

At block532, the example electronic control module202pressurizes the second mix tank. In some examples, the pump controller332actuates the pneumatic pump214to an “ON” state, and the valve controller334connects the pneumatic pump214to the second mix tank108by actuating the fifth valve216. The example electronic control module202may include a pressure sensor to determine when the second mix tank108is sufficiently pressurized and then indicate to the pump controller332to turn the pneumatic pump214to an “OFF” state, and indicate to the valve controller334to actuate the fifth valve216to an “OFF” state. In some examples, the pneumatic pump214is configured to be “ON” for a specified time (e.g., five seconds, ten seconds, etc.) to pressurize the second mix tank108, and turn off after this time period. The timer342can be used to track the amount of time a pressurization process has been running. In response to the pneumatic pump214being switched to an “OFF” state by the pump controller332, the valve controller334can actuate the fifth valve216to the “OFF” state.

Example machine readable instructions600that may be executed by the electronic control module202to supply spray solution to the boom are illustrated inFIG. 6. With reference to the preceding figures and associated descriptions, the example machine readable instructions600ofFIG. 6begin with the electronic control module202determining whether spray mode is enabled (Block602). In some examples, the control mode selector318determines whether spray mode is enabled. In response to the spray mode being enabled, processing transfers to block604. Conversely, in response to spray mode not being enabled, processing terminates.

At block604, the example electronic control module202determines whether the first mix tank is being filled. In some examples, the status monitor330determines whether the first valve204is actuated to connect the main carrier tank104to the first mix tank106, and/or whether the third valve210is actuated to connect the concentrate bottle110to the first mix tank106. In response to the first mix tank being filled, processing transfers to block612. Conversely, in response to the first mix tank not being filled, processing transfers to block606.

At block606, the example electronic control module202actuates the fourth valve to connect the first mix tank to the boom. In some examples, the valve controller334actuates the fourth valve212to connect the first mix tank106to the boom116.

At block608, the example electronic control module202determines whether the fluid level of the first mix tank is below a low fill threshold. In some examples, the fluid level analyzer306determines whether the fluid level of the first mix tank106is below a low fill threshold. For example, the low fill threshold can be the minimum amount of fluid required to continue using a mix tank to supply the boom116with lawn treatment mixture. In response to the fluid level of the first mix tank being below the low fill threshold, processing transfers to block610. Conversely, in response to the fluid level of the first mix tank not being below the low fill threshold, processing remains at block608.

At block610, the example electronic control module202actuates the fourth valve to the “OFF” state. In some examples, the valve controller334actuates the fourth valve212to the “OFF” state, thereby ending connection of the first mix tank106and the boom116.

At block612, the example electronic control module202determines whether the second mix tank is being filled. In some examples, the status monitor330determines whether the first valve204is actuated to connect the main carrier tank104to the second mix tank108, and/or whether the third valve210is actuated to connect the concentrate bottle110to the second mix tank108. In response to the second mix tank being filled, processing transfers to block602. Conversely, in response to the second mix tank not being filled, processing transfers to block614.

At block614, the example electronic control module202actuates the fourth valve to connect the second mix tank to the boom. In some examples, the valve controller334actuates the fourth valve212to connect the second mix tank108to the boom116.

At block616, the example electronic control module202determines whether the fluid level of the second mix tank is below a low fill threshold. In some examples, the fluid level analyzer306determines whether the fluid level of the second mix tank108is below a low fill threshold. In response to the fluid level of the second mix tank being below the low fill threshold, processing transfers to block618. Conversely, in response to the fluid level of the second mix tank not being below the low fill threshold, processing remains at block616.

At block618, the example electronic control module202actuates the fourth valve to the “OFF” state. In some examples, the valve controller334actuates the fourth valve212to the “OFF” state, thereby ending connection of the second mix tank108and the boom116.

Example machine readable instructions700that may be executed by the electronic control module202to analyze camera data to identify spray target(s) are illustrated inFIG. 7. With reference to the preceding figures and associated descriptions, the example machine readable instructions700ofFIG. 7begin with the electronic control module202accessing a first camera image and a second, consecutive camera image (Block702). In some examples, the imager322accesses the first camera image and the second, consecutive camera image from the cameras128. In some examples, the imager322accesses images as they are captured by the cameras128.

At block704, the example electronic control module202identifies shapes in the first camera image and the second camera image. For example, the image analyzer324analyzes the first camera image and the second camera image to identify shapes in the images. In some examples, in response to identifying a shape in the first camera image or in the second camera image, the image analyzer324attempts to search for the same (or similar) shape in the other camera image, to verify the existence of the shape, to ascertain how quickly the shape is approaching, and/or to gain more information pertaining to the shape. In some examples, the image analyzer324can utilize a machine learning model to identify shapes in the first and second camera images.

At block706, the example electronic control module202identifies textures and/or patterns in the first camera image and the second camera image. In some examples, the image analyzer324analyzes the first camera image and the second camera image to identify textures and/or patterns in the images. In some examples, the image analyzer324can utilize a machine learning model to identify textures and/or patterns in the first and second camera images.

At block708, the example electronic control module202determines if shapes, textures, and/or patterns identified in the first and second images are associated with a spray target. In some examples, the spray target determiner326determines if shapes, textures, and/or patterns identified in the first and second images are associated with a spray target. For example, the spray target determiner326can compare identified shapes, textures, and/or patterns to known shapes, textures, and/or patterns associated with spray targets (e.g., weeds). The spray target determiner326can also use other identified characteristics, such as color, to identify spray targets. In some examples, the spray target determiner326can utilize a machine learning model to compare identified shapes, textures, and/or patterns with known shapes, textures, and/or patterns associated with spray targets. In response to the shapes, textures, and/or patterns being associated with a spray target, processing transfers to block710. Conversely, in response to the shapes, textures, and/or patterns not being associated with a spray target, processing returns to block418ofFIG. 4Aor block432ofFIG. 4B.

At block710, the example electronic control module202determines a position of the spray target relative to vehicle at the time of image capture. For example, the spray target determiner326can determine a position of the spray target relative to the tractor100. In some examples, the spray target determiner326determines a distance from the spray target to the nozzles118.

At block712, the example electronic control module202adapts the spray target position based on vehicle speed and/or comparing position data. In some examples, the spray target determiner326adapts the previously determined position based on position data accessed by the position data accessor304or speed data accessed by the speed determiner310. In some examples, the spray target determiner326determines an amount of time since the image was captured by comparing a timestamp associated with the image with a current time from the timer342. Thereafter, the spray target determiner326determines position data relative to the time the image was captured to adapt the spray target position based on the movement of the tractor100since the image was captured. For example, if the image is captured at a first position, and the spray target determiner326does not identify the spray target for two-tenths of a second, the spray target determiner326can determine how far the tractor100traveled in those two-tenths of a second based on position data or speed data, and update the position of the spray target to be relative to the new position of the tractor100.

At block714, the example electronic control module202stores the spray target position. In some examples, the spray target determiner326stores the spray target position to the data store344. In some examples, the spray target determiner326additionally or alternatively communicates the spray target position to the spray configurator316, and/or to the map generator308to be added to mapping data.

Example machine readable instructions800that may be executed by the electronic control module202to perform an auto-cleanout operation are illustrated inFIGS. 8A-8B. With reference to the preceding figures and associated descriptions, the example machine readable instructions800ofFIG. 8begin with the example electronic control module202receiving an auto-cleanout request (Block802). In some examples, the control mode selector318accesses an auto-cleanout request from control mode selection data associated with the operator controller130.

At block804, the example electronic control module202provides instructions on a display to remove the top of the concentrate bottle and place the top on the drain funnel. In some examples, the display controller340provides instructions on the display associated with the operator controller130for an operator to remove the concentrate bottle top112and place it on top of a drain funnel.

At block806, the example electronic control module202determines whether the concentrate bottle top has been removed. In some examples, the concentrate top monitor314accesses concentrate top sensor data to determine whether the concentrate bottle top112has been removed from the concentrate bottle110. In response to the concentrate bottle top having been removed from the concentrate bottle, processing transfers to block808. Conversely, in response to the concentrate bottle top not having been removed from the concentrate bottle, processing transfers to block804.

At block808, the example electronic control module202provides instructions to drive to an open area. For example, the display controller340can display instructions on a display of the operator controller130instructing the operator to drive the tractor100to an open area.

At block810, the example electronic control module202displays a “start cleanout” button. In some examples, the display controller340displays a “start cleanout” button on a display of the operator controller130. The “start cleanout” button can be any sort of actuatable button, lever, trigger, etc. to initiate the auto-cleanout procedure, once the tractor100is in an open area. In some examples, the display controller340can be configured to only display the “start cleanout” button when the position data accessed by the position data accessor304indicates that the tractor100is in a position acceptable for an auto-cleanout procedure (e.g., an area designated for clean-out).

At block812, the example electronic control module202determines whether “start cleanout” has been selected. In some examples, the control mode selector318and/or the status monitor330accesses an indication from the operator controller130of whether “start cleanout” has been selected. In response to “start cleanout” being selected, processing transfers to block814. Conversely, in response to “start cleanout” not being selected, processing remains at block812.

At block814, the example electronic control module202provides instructions to dive at low speeds. In some examples, the display controller340provides instructions via the operator controller130instructing the tractor100to be operated at a low speed, to ensure that the discharge from the auto-cleanout operation is dispersed.

At block816, the example electronic control module202determines whether the vehicle is moving at low speed. In some examples, the speed determiner310accesses speed data (e.g., from the GPS receiver122, from a speed sensor, etc.) to determine whether the tractor100is moving at low speeds. In some examples, the speed determiner310compares a speed value from the GPS receiver122to a threshold to determine if the tractor100is operating at low speed. In response to the tractor100moving at low speed, processing transfers to block818. Conversely, in response to the vehicle not moving at low speed, processing remains at block816.

At block818, the example electronic control module202actuates the second valve to connect the main carrier tank and the concentrate bottle top. In some examples, the valve controller334actuates the second valve206to connect the main carrier tank104and the concentrate bottle top112.

At block820, the example electronic control module202determines whether a suction line cleanout time threshold has been satisfied. In some examples, the status monitor330compares time values from the timer342to determine whether a suction line cleanout time has been satisfied. The suction line cleanout time can be a time that is necessary to sufficiently clean out the suction line (e.g., the line connected to the concentrate bottle top112) to remove any remaining concentrate substance. In response to the suction line cleanout time threshold being satisfied, processing transfers to block822. Conversely, in response to the suction line cleanout time threshold not being satisfied, processing remains at block820.

At block822, the example electronic control module202actuates the second valve to connect the main carrier tank to the concentrate supply line. In some examples, the valve controller334actuates the second valve206to connect the main carrier tank104to the concentrate supply line (e.g., corresponding to the line connected to the direct injection pump208).

At block824, the example electronic control module202actuates the third valve to connect the concentrate supply line to the first mix tank. In some examples, the valve controller334actuates the third valve210to connect the concentrate supply line to the first mix tank106.

At block826, the example electronic control module202determines whether the first mix tank satisfies an upper fill threshold. In some examples, the fluid level analyzer306determines whether the first mix tank106is full based on fluid level data from the first fluid level sensor218. In some examples, the fluid level analyzer306compares fluid level data from the first fluid level sensor218to an upper fill threshold.

The example machine readable instructions800continue inFIG. 8B. With reference to the preceding figures and associated descriptions, the example machine readable instructions800continue with the example electronic control module202actuating the fourth valve and opening one or more nozzle(s) to discharge fluid from the first mix tank (Block828). In some examples, the valve controller334actuates the fourth valve212and opens one or more of the nozzles118to discharge fluid from the first mix tank106.

At block830, the example electronic control module202determines whether a cleanout spray time threshold has been satisfied. In some examples, the status monitor330and/or the valve controller334compare time values tracked by the timer342to determine whether the cleanout spray time threshold has been satisfied. In response to the cleanout spray time threshold having been satisfied, processing transfers to block832. Conversely, in response to the cleanout spray time threshold not having been satisfied, processing remains at block830.

At block832, the example electronic control module202actuates the third valve to the “OFF” position. In some examples, the valve controller334actuates the third valve210to the “OFF” position, thereby ending the connection between the concentrate supply line and the first mix tank106.

At block834, the example electronic control module202determines if the first mix tank satisfies a low fill threshold. For example, the fluid level analyzer306can determine if the first mix tank106is empty by comparing fluid level data from the first fluid level sensor218with a low fill threshold. For example, if the fluid level satisfies the low fill threshold, the fluid level is above the low fill threshold. In response to the first mix tank not satisfying the low fill threshold, processing transfers to block836. Conversely, in response to the first mix tank satisfying the low fill threshold, processing remains at block834.

At block836, the example electronic control module202actuates the fourth valve to the “OFF” position and closes the nozzles. In some examples, the valve controller334actuates the fourth valve212to the “OFF” position, thereby ending the connection of the first mix tank106to the boom116, and closes ones of the nozzles118that are open.

At block838, the example electronic control module202actuates the third valve to connect the concentrate supply line to the second mix tank. In some examples, the valve controller334actuates the third valve210to connect the concentrate supply line to the second mix tank108.

At block840, the example electronic control module202determines whether the second mix tank satisfies an upper fill threshold. In some examples, the fluid level analyzer306determines whether the second mix tank108is full by comparing fluid level data from the second fluid level sensor220to an upper fill threshold. In response to the second mix tank satisfying the upper fill threshold, processing transfers to block842. Conversely, in response to the second mix tank not satisfying the upper fill threshold, processing remains at block840.

At block842, the example electronic control module202actuates the fourth valve and opens one or more nozzle(s) to discharge fluid from the second mix tank. In some examples, the valve controller334actuates the fourth valve212and opens one or more of the nozzles118to discharge fluid from the second mix tank108.

At block844, the example electronic control module202determines whether a cleanout spray time threshold has been satisfied. In some examples, the status monitor330and/or the valve controller334compare time values tracked by the timer342to determine whether the cleanout spray time threshold has been satisfied. In response to the cleanout spray time threshold having been satisfied, processing transfers to block846. Conversely, in response to the cleanout spray time threshold not having been satisfied, processing remains at block844.

At block846, the example electronic control module202actuates the third valve to the “off” position. In some examples, the valve controller334actuates the third valve210to the “off” position.

At block848, the example electronic control module202determines whether the second mix tank satisfies the low fill threshold. For example, the fluid level analyzer306can determine if the second mix tank108is empty by comparing fluid level data from the first fluid level sensor220with a low fluid threshold. For example, if the fluid level does not satisfy the low fluid threshold, then the second mix tank108can be considered to be empty. In response to the first mix tank not satisfying the low fill threshold, processing transfers to block850. Conversely, in response to the second mix tank satisfying the low fill threshold, processing remains at block848.

At block850, the example electronic control module202actuates the fourth valve to the “off” position. In some examples, the valve controller334actuates the fourth valve212to the “off” position, thereby ending the connection from the second mix tank108to the boom116.

At block852, the example electronic control module202provides an indication to the operator that the auto-cleanout is complete. For example, the display controller340can cause a display of the operator controller130to display an indication that the auto-cleanout process is complete.

FIG. 9is a partial schematic900of an alternative configuration of the spraying system200ofFIG. 2utilizing concentrate cartridges located at nozzles. The partial schematic900depicts the boom116and the nozzles118, extending toward a treatment surface. The partial schematic900further depicts example concentrate cartridges902connected to the ones of the nozzles118. In some examples, each one of the nozzles118is directly connected to one of the concentrate cartridges902.

The example concentrate cartridges902of the illustrated example ofFIG. 9contain concentrate substance (e.g., concentrated weed killer, fertilizer, etc.), that is directly mixed with main carrier substance (e.g., water) from the main carrier tank104and subsequently dispensed as lawn treatment mixture from ones of the nozzles118. In some examples, the main carrier tank104provides main carrier substance to the boom116. When the electronic control module202provides signals to ones of the nozzles118to dispense lawn treatment mixture, main carrier substance is able to flow through the respective ones of the concentrate cartridges902, thereby mixing main carrier substance with concentrate substance. After mixing, the lawn treatment mixture is dispensed out of the ones of the nozzles118.

In some examples, the concentrate cartridges902are individually replaceable. For example, one or more of the concentrate cartridges902can be obtained and utilized to replace spent ones of the concentrate cartridges902after the concentrate substance has been depleted. In some examples, sensors may provide data to the electronic control module202indicating when ones of the concentrate cartridges902have been spent and should be replaced. In some examples utilizing the concentrate cartridges902, the first mix tank106and the second mix tank108of the spraying system200ofFIG. 2are not necessary, as the concentrate substance and the main carrier substance are mixed directly at ones of the nozzles118prior to spraying. By utilizing a smaller volume of lawn treatment mixture, and only preparing lawn treatment mixture when necessary, minimal lawn treatment mixture is wasted.

FIG. 10is a block diagram of an example processor platform1000structured to execute the instructions ofFIGS. 4A-4B, 5A-5B, 6, 7, and 8A-8Bto implement the electronic control module202ofFIG. 3. The processor platform1000can be, for example, a server, a personal computer, a workstation, a self-learning machine (e.g., a neural network), a mobile device (e.g., a cell phone, a smart phone, a tablet such as an iPad™), a personal digital assistant (PDA), an Internet appliance, a DVD player, a CD player, a digital video recorder, a Blu-ray player, a gaming console, a personal video recorder, a set top box, a headset or other wearable device, or any other type of computing device.

The processor platform1000of the illustrated example includes a processor1012. The processor1012of the illustrated example is hardware. For example, the processor1012can be implemented by one or more integrated circuits, logic circuits, microprocessors, GPUs, DSPs, or controllers from any desired family or manufacturer. The hardware processor may be a semiconductor based (e.g., silicon based) device. In this example, the processor implements the example input data analyzer302, the example position data accessor304, the example fluid level analyzer306, the example map generator308, the example speed determiner310, the example mapping data analyzer312, the example concentrate top monitor314, the example spray configurator316, the example control mode selector318, the example spray target analyzer320, the example imager322, the example image analyzer324, the example spray target determiner326, the example output controller328, the example status monitor330, the example pump controller332, the example valve controller334, the example nozzle controller336, the example speed selector338, the example display controller340, the example timer342, the example data store344and/or, more generally, the example electronic control module202.

The processor1012of the illustrated example includes a local memory1013(e.g., a cache). The processor1012of the illustrated example is in communication with a main memory including a volatile memory1014and a non-volatile memory1016via a bus1018. The volatile memory1014may be implemented by Synchronous Dynamic Random Access Memory (SDRAM), Dynamic Random Access Memory (DRAM), RAMBUS® Dynamic Random Access Memory (RDRAM®) and/or any other type of random access memory device. The non-volatile memory1016may be implemented by flash memory and/or any other desired type of memory device. Access to the main memory1014,1016is controlled by a memory controller.

The processor platform1000of the illustrated example also includes an interface circuit1020. The interface circuit1020may be implemented by any type of interface standard, such as an Ethernet interface, a universal serial bus (USB), a Bluetooth® interface, a near field communication (NFC) interface, a field-programmable grid array (FPGA) and/or a PCI express interface.

In the illustrated example, one or more input devices1022are connected to the interface circuit1020. The input device(s)1022permit(s) a user to enter data and/or commands into the processor1012. The input device(s) can be implemented by, for example, an audio sensor, a microphone, a camera (still or video), a keyboard, a button, a mouse, a touchscreen, a track-pad, a trackball, isopoint and/or a voice recognition system.

The processor platform1000of the illustrated example also includes one or more mass storage devices1028for storing software and/or data. Examples of such mass storage devices1028include floppy disk drives, hard drive disks, compact disk drives, Blu-ray disk drives, redundant array of independent disks (RAID) systems, and digital versatile disk (DVD) drives.

The machine executable instructions1032ofFIGS. 4A-4B, 5A-5B, 6, 7, and 8A-8Bmay be stored in the mass storage device1028, in the volatile memory1014, in the non-volatile memory1016, and/or on a removable non-transitory computer readable storage medium such as a CD or DVD.

From the foregoing, it will be appreciated that example methods, apparatus and articles of manufacture have been disclosed that perform efficient lawn spraying utilizing two mix tanks to continually prepare small batches of lawn treatment mixture in one mix tank while the other mix tank provides lawn treatment mixture to nozzles. The methods, apparatus, and articles of manufacture disclosed herein improve the efficiency of lawn spraying processes by only using the necessary amount of concentrate solution, and further allowing an operator to change concentrate solutions when required with minimal waste (since only small batches of lawn treatment mixture are prepared, as opposed to conventional approaches that require manual mixing of the entire concentrate solution for one-time use). Example techniques disclosed herein also describe intelligent features that improve efficiency of lawn spraying procedures such as automated spray target identification, mapping of spray targets, an automated clean-out procedure, individual nozzle control for accurate spraying of targets and minimal waste, and other performance improving features. The disclosed methods, apparatus and articles of manufacture improve the efficiency of using a computing device by enabling intelligent control of the components of a tractor system to identify spray targets, to actuate components for the automated production and spraying of lawn treatment mixture, and to accurately control spraying of lawn treatment mixture. The disclosed methods, apparatus and articles of manufacture are accordingly directed to one or more improvement(s) in the functioning of a computer.