Patent Publication Number: US-2023138141-A1

Title: Systems and methods for spraying seeds dispensed from a high-speed planter

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. Pat. Application Serial No. 16/823,460, filed Mar. 19, 2020, which claims priority to U.S. Provisional Pat. Application Serial No. 62/822,403, filed on Mar. 22, 2019, the disclosures of which are hereby incorporated by reference in their entirety. 
    
    
     BACKGROUND 
     The field of this disclosure relates generally to systems for applying fluid to agricultural fields and, more particularly, to systems and methods for spraying seeds dispensed from a high-speed planter. 
     In the agricultural industry, agricultural fluids are commonly applied to fields for a variety of reasons. For example, plants and plant precursors (e.g., seeds) are often sprayed with an agricultural fluid at the time of planting to enhance germination and early development. Agricultural fluids include, without limitation, spray fertilizers, pesticides, insecticides, fungicides, growth promoter, and/or growth regulator. 
     To simplify this process, various spraying systems have been developed that are designed to spray a fluid onto seeds as they are planted or otherwise distributed on and/or within the ground. The spraying system may be incorporated into a planter which distributes the seeds. However, such conventional spraying systems are typically configured to spray a continuous band of fluid down the length of the row in which the seeds are being planted. To avoid the problems associated with continuous band spraying systems, improved spraying systems have been developed that provide for seed-specific placement of agricultural fluids. For example, U.S. Pat. Nos. 7,370,589 and 8,074,585 (Wilkerson et al.), both of which are hereby incorporated by reference in their entirety for all purposes, disclose a system that utilizes a sensor to detect seeds passing through a seed tube. Upon the detection of a seed, the sensor transmits information to a controller configured to control the operation of a fluid dispenser such that the fluid dispenser dispenses fluid onto the seed at a predetermined time after the seed is detected by the sensor. 
     Some planters include apparatus that actively control the speed of the seeds passing through the seed tube (e.g., using a belt or brush assembly), and allow the planter to travel at a faster speed, i.e., a high-speed planter, while dispensing the seeds at the same frequency as conventional planters. Conventional systems that provide seed-specific placement of agricultural fluids are generally not adapted for use with high-speed planters. 
     Therefore, there is a need for a spraying system that provides seed-specific placement of fluid for use with a high-speed planter. 
     BRIEF SUMMARY 
     In one aspect, a planter system for planting seeds and spraying a fluid is provided. The planter system includes a seeder assembly including a seed tube and a conveyor apparatus configured to propel or carry the seed through the seed tube. The planter system also includes a sensor configured to transmit a detection signal upon detection of the seed passing a detection location. The planter system further includes a nozzle assembly configured to spray the fluid in response to receiving a control signal, and a valve fluidly coupled with the nozzle assembly and configured to control fluid flow therethrough. The planter system also includes a control system communicatively coupled to the sensor and the valve. The control system is configured to determine a travel time of the seed from the detection location to a furrow based on a baseline drop time for the seed, a baseline travel speed of the seeder assembly, and an operating travel speed of the seeder assembly. The control system is also configured to transmit the control signal to the valve based on the travel time and the detection signal to spray the fluid on or adjacent the seed. 
     In another aspect, a method for planting seeds and spraying a fluid includes dispensing a seed into a seed tube of a seeder assembly, and carrying or propelling the seed through the seed tube. The method also includes detecting the seed passing a detection location and transmitting a detection signal to a control system upon detection of the seed passing the detection location. The method further includes determining a travel time of the seed from the detection location to a furrow. The travel time is determined based on a baseline drop time for the seed, a baseline travel speed of the seeder assembly, and an operating travel speed of the seeder assembly. The method also includes transmitting a control signal from the control system to a valve based on the travel time and the detection signal. The valve is fluidly coupled to a nozzle assembly to control fluid flow therethrough. The method further includes actuating the valve upon receiving the control signal such that fluid is sprayed from the nozzle assembly on or adjacent to the seed. 
     In yet another aspect, a planter system for planting seeds and spraying a fluid includes a plurality of row units. Each row unit includes a seed tube and a conveyor apparatus configured to propel or carry the seed through the seed tube, and a sensor configured to transmit a detection signal upon detection of the seed passing a detection location. The planter system also includes a control system communicatively coupled to the sensor of each row unit to receive the detection signal from the sensor of each row unit. The control system is configured to determine, for each seeder assembly, a travel time of the seed from the detection location to a furrow based on a baseline drop time for the seed, a baseline travel speed of the seeder assembly, and an operating travel speed of the seeder assembly. The operating travel speed of each seeder assembly is determined based on a location of the seeder assembly relative to a centerline of the planter system and a detected travel speed of the planter system. 
     Various refinements exist of the features noted in relation to the above-mentioned aspects. Further features may also be incorporated in the above-mentioned aspects as well. These refinements and additional features may exist individually or in any combination. For instance, various features discussed below in relation to any of the illustrated embodiments may be incorporated into any of the above-described aspects, alone or in any combination. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a side schematic view of an embodiment of a seed planting and agricultural spraying system connected to a motorized vehicle. 
         FIG.  2    is a perspective view of the seed planting and agricultural spraying system shown in  FIG.  1   . 
         FIG.  3    is a side view of a portion of the seed planting and agricultural spraying system shown in  FIG.  1   . 
         FIG.  4    is a side view of a seed tube of the seed planting and agricultural spraying system shown in  FIGS.  1 - 3   , with a portion of the seed tube removed to show a conveyor apparatus configured to carry seeds through the seed tube. 
         FIG.  5    is schematic view of a portion of the seed planting and agricultural spraying system shown in  FIGS.  1 - 3   . 
         FIG.  6    is a block diagram of the seed planting and agricultural spraying system shown in  FIGS.  1 - 3   . 
         FIG.  7    is a flow chart of a method of planting seeds and dispensing fluid relative to the seeds. 
     
    
    
     Unless otherwise indicated, the drawings provided herein are meant to illustrate features of embodiments of the disclosure. These features are believed to be applicable in a wide variety of systems comprising one or more embodiments of the disclosure. As such, the drawings are not meant to include all conventional features known by those of ordinary skill in the art to be required for the practice of the embodiments disclosed herein. 
     DETAILED DESCRIPTION 
     Referring now to  FIGS.  1  and  2   , a seed planting and agricultural spraying system, or planter,  112  (shown schematically in  FIG.  1   ) is shown connected to a motorized vehicle  10 . Motorized vehicle  10  is coupled, fixedly or removably, to seed planting and agricultural spraying system  112  and provides locomotion to seed planting and agricultural spraying system  112  and/or otherwise controls components of seed planting and agricultural spraying system  112 . In the illustrated embodiment, motorized vehicle  10  is a tractor, although any other suitable vehicles or machines may be used to provide locomotion to seed planting and agricultural spraying system  112  and provide for control of seed planting and agricultural spraying system  112 . In some embodiments, one or more components of seed planting and agricultural spraying system  112  may be incorporated into motorized vehicle  10  without departing from some aspects of this disclosure. 
     As shown in  FIGS.  1  and  2   , motorized vehicle  10  includes a pair of front wheels  16 , a pair or rear wheels  18 , and a chassis  20  coupled to and supported by wheels  16 ,  18 . A cab  22  is supported by a portion of chassis  20  and houses various control devices  24  for permitting an operator to control operation of motorized vehicle  10 . In some embodiments, control devices  24  may also permit control of seed planting and agricultural spraying system  112 . Motorized vehicle  10  also includes an engine  26  and a transmission  28  mounted on chassis  20 . Transmission  28  is operably coupled to engine  26  and provides variably adjusted gear ratios for transferring engine power to wheels  18  via an axle/differential  30 . Additionally, as shown in  FIGS.  1  and  2   , motorized vehicle  10  may be configured to be coupled to seed planting and agricultural spraying system  112  via a suitable coupling  32  such that vehicle  10  may pull seed planting and agricultural spraying system  112  as it moves in a travel direction (indicated by arrow  34 ) along a field  102 . It should be understood that any other suitable vehicle or machine may be used to provide locomotion to seed planting and agricultural spraying system  112  and provide for control of seed planting and agricultural spraying system  112 . In some embodiments, for example, vehicle  10  may include tracks instead of or in addition front wheels  16  and/or wheels  18 . Additionally, in some embodiments, vehicle  10  may be an autonomous vehicle with or without a cab  22 . 
     Referring to  FIGS.  2  and  3   , seed planting and agricultural spraying system  112  includes a plurality of row units  114 . Row units  114  are configured to at least spray a fluid on and/or adjacent to seeds and/or plants and, in some embodiments, are configured to plant seeds and spray the fluid on and/or adjacent to the seeds. As used herein with reference to fluids, the term “spray” includes not only fluid dispensed in atomized or droplet form, but also any application or dispensing of fluid from an orifice. Seed planting and agricultural spraying system  112  further includes a control system and a user interface (shown in  FIGS.  5  and  6   ) for controlling row units  114  and displaying related information. The control system and user interface determine a spray band length and a position of the spray band relative to a seed, group of seeds, or plant, and convey this information to an operator of the seed planting and agricultural spraying system. The control system and user interface are located in a cab or other occupant space (e.g., cab  22 ) for the operator of seed planting and agricultural spraying system  112 . In alternative embodiments, the control system and/or user interface are located remote from row units  114  and an associated vehicle and allow for remote control of row units  114 . 
     Row unit  114  is configured to create a furrow  138  using a furrow creation device, to meter and dispense seeds into the furrow  138  from a seed hopper  154  using a seed tube  158  and a conveyor apparatus  160 , and to spray a fluid F using a nozzle assembly  218 . Row unit  114  may include any number of components such that row unit  114  performs these functions for a single row or a plurality of rows simultaneously. For example, in some embodiments, row unit  114  includes a plurality of furrow creation devices, seed tubes  158  fed from seed hoppers  154  (e.g., each seed hopper  154  fed from a single, shared master seed hopper), and nozzle assemblies  218  along the track of row unit  114  and planter  112 . 
     Planter  112  includes a frame  136  extending along the width of planter  112  (e.g., in a direction transverse to the travel of planter  112 , in other words parallel to the track length of planter  112 ) that supports row units  114 . Planter  112  has a centerline  148  that extends through the center of frame  136  and in a direction parallel to the travel of planter  112 . Row units  114  are spaced equally apart from each other along frame  136  and each row unit  114  has a position relative to centerline  148 . In the illustrated embodiment, planter  112  includes an even number of row units  114 . The row units  114  are spaced from centerline  148  by distances  150 . In alternative embodiments, row units  114  may be arranged in any suitable manner. For example, in some embodiments, planter  112  includes an odd number of row units  114 , and one row unit  114  is positioned on frame  136  at centerline  148 . 
     The furrow creation device of planter  112  is configured to create a trench or furrow  138  within the ground for planting seeds  146 . In several embodiments, the furrow creation device includes a pair of laterally spaced opening discs  140 , a pair of laterally spaced closing discs  142 , and a press wheel  144 . The opening discs  140  are configured to open a furrow  138  within the ground. Seeds  146  are deposited into furrow  138  (e.g., by seed tube  158 ), and closing discs  142  are configured to close furrow  138  over seeds  146 . Press wheel  144  is configured to compact the soil that has been closed over seeds  146 . In alternative embodiments, furrow creation device may include other suitable components for creating furrow  138 . In further alternative embodiments, planter  112  does not include a furrow creation device but rather plants and/or sprays in an existing furrow  138  (e.g., created by another machine). In some embodiments, planter  112  sprays on top of the ground outside of a furrow. For example, planter  112  may spray fluid from a front end of planter  112  in the travel direction and/or planter  112  may spray the ground at a specified distance from a furrow. 
     In the illustrated embodiment, each row unit  114  includes a seeder assembly  152  including seed hopper  154 , a seed meter  156 , seed tube  158 , and a conveyor apparatus  160 . As used herein, the term “seed tube” refers to an enclosure through which seeds are delivered or conveyed to a furrow. Seed hopper  154 , seed meter  156 , seed tube  158 , and conveyor apparatus  160  are configured to dispense seeds  146  into furrow  138 . For example, seed hopper  154  is any suitable container or other storage device configured for storing and dispensing seeds  146  into seed meter  156 . Seed meter  156  is any suitable seed meter configured to dispense seeds  146  into seed tube  158  at a metered rate. In one embodiment, seed meter  156  includes a housing and a seed plate or disc rotatably supported within the housing. The seed disc includes a plurality of indentions, channels and/or other suitable recessed features that are spaced apart from one another around the seed disc (e.g., in a circular array) to allow seeds  146  to be dispensed at a given frequency. Specifically, each recessed feature is configured to grab one seed  146  (e.g., via a vacuum applied to the recessed feature) as such recessed feature is rotated past the location at which seeds  146  are fed into the housing from seed hopper  154 . As the seed disc is rotated, seeds  146  are carried by the recessed features and dispensed into seed tube  158 . The metered rate may be predetermined, set, changed, or otherwise controlled (e.g., by the control system of planter  112  or mechanically based on a rate of travel of row unit  114 ). For example, at a given rotational speed for the seed disc, seed meter  156  dispenses seeds  146  at a constant frequency. When planter  112  travels at a constant speed, seeds  146  are spaced apart equally from one another within furrow  138 . As the travel speed of planter  112  increases or decreases, the rotational speed of the seed disc may also be increased or decreased to maintain equal spacing or a predetermined spacing of seeds  146  within furrow  138 . Such variation of the rotational speed of the seed disc is provided by a drive system  162  and/or controlled by a control system of planter  112 . 
     Drive system  162  is or includes any suitable device and/or combination of devices configured to rotate the seed disc of seed meter  156 . In the illustrated embodiment, for example, drive system  162  is a sprocket/chain arrangement including a drive shaft  164 , a first sprocket  166  coupled to drive shaft  164 , a second sprocket  168  coupled to the seed disc (e.g., via a shaft  170 ) and a chain  172  coupled between the first and second sprockets  166 ,  168 . Drive shaft  164  is configured to rotate first sprocket  166 , which, in turn, rotates second sprocket  168  via chain  172 . Rotation of second sprocket  168  results in rotation of shaft  170  and, thus, rotation of the seed disc within the housing of seed meter  156 . Drive system  162  further includes a motor  174  (e.g., an electric or hydraulic motor) rotatably coupled to drive shaft  164  that is configured to be controlled by the control system of planter  112 . Specifically, the control system is configured to receive signals associated with the travel speed of planter  112  from a speed sensor (e.g., an encoder or shaft sensor, global positioning system receiver, or other device suitable for measuring the speed, directly or indirectly, of planter  112 ) and regulate the rotational speed of motor  174  based on the travel speed of planter  112  such that a desired spacing between seeds is achieved or maintained. In alternative embodiments, drive system  162  is or includes other components or devices. For example, drive system  162  may be configured to rotate the seed disc using a connection with one or more wheels or other rotating features of planter  112 . A transmission, clutch, and/or other components may be used to regulate the rotational speed of the seed disc and therefore achieve or maintain desired spacing between seeds. 
     Conveyor apparatus  160  includes a brush  176  (shown in  FIG.  4   ), a belt  178  supporting brush  176 , and a drive system  180 . Brush  176  and belt  178  of conveyor apparatus  160  are positioned within an interior space  208  of seed tube  158  defined by a housing  202  such that bristles  182  of brush  176  contact seeds  146  as seeds  146  pass through the seed tube  158 . Brush  176  receives seeds  146  dispensed into seed tube  158  by seed meter  156  and carries seeds  146  along the length of seed tube  158  as belt  178  is rotated by drive system  180 . In alternative embodiments, conveyor apparatus  160  includes other components or devices. For example, in several embodiments, conveyor apparatus  160  includes a source of pressurized fluid and is configured to propel seeds  146  through seed tube  158  using the pressurized fluid. 
     In some embodiments, belt  178  includes flights or cleats instead of or in addition to bristles  182 . The flights may be spaced apart along the longitudinal direction of belt  178  and configured to receive seeds  146  at predetermined intervals. The flights may extend outward from the surface of the belt  178  and may be curved, angled, straight, and/or any other shape. 
     Drive system  180  is or includes any suitable device and/or combination of devices configured to rotate belt  178  of conveyor apparatus  160 . In the illustrated embodiment, for example, drive system  180  is a sprocket/chain arrangement including a drive shaft  184 , a first sprocket  186  coupled to drive shaft  184 , a second sprocket  190  coupled to a first pulley  192  (e.g., via a shaft  194 ) and a chain  196  coupled between the first and second sprockets  186 ,  190 . Drive shaft  184  is configured to rotate first sprocket  186 , which, in turn, rotates second sprocket  190  via chain  196 . Rotation of second sprocket  190  results in rotation of shaft  194  and, thus, rotation of first pulley  192  and belt  178 , and a second pulley  198  coupled to belt  178 . Drive system  180  further includes a motor  200  (e.g., an electric or hydraulic motor) rotatably coupled to drive shaft  184  that is configured to be controlled by the control system of planter  112 . Specifically, the control system is configured to receive signals associated with the travel speed of planter  112  from a sensor or other suitable device (e.g., an encoder or shaft sensor, global positioning system receiver, or other device) and regulate the rotational speed of motor  200  based on the travel speed of planter  112  such that a desired spacing between seeds is achieved or maintained. In alternative embodiments, drive system  180  is or includes other components or devices. For example, drive system  180  may be configured to move conveyor apparatus  160  using a connection with one or more wheels or other rotating features of planter  112 . A transmission, clutch, and/or other components may be used to regulate the speed of conveyor apparatus  160  and therefore achieve or maintain desired spacing between seeds. 
     In alternative embodiments, row unit  114  is or includes other suitable components for dispensing seeds  146 . In further alternative embodiments, planter  112  does not include seed hopper  154 , seed meter  156 , seed tube  158 , conveyor apparatus  160 , or other components for dispensing seeds  146 , and instead sprays existing seeds  146  or existing plants. In such embodiments, row unit  114  does not include seeder assembly  152 . 
     Referring to  FIG.  4   , housing  202  of seed tube  158  includes a first end  204  and a second end  206 , and defines interior space  208 . Seed tube  158  has a length  210  defined between first end  204  and second end  206 . First end  204  of housing  202  defines an inlet  212  of seed tube  158 . Seeds  146  dispensed from seed meter  156  (shown in  FIG.  3   ) enter interior space  208  of housing  202  through inlet  212 . Second end  206  of housing  202  defines an outlet  214  of seed tube  158 . Seeds  146  exit interior space  208  of housing  202  and are dispensed to furrow  138  (shown in  FIG.  3   ) through outlet  214 . During operation of row unit  114 , seed tube  158  is oriented substantially vertically such that inlet  212  is at a top of seed tube  158  and outlet  214  is at a bottom of seed tube  158 . Accordingly, seeds  146  travel through interior space  208  of housing  202  in a generally downward direction from first end  204  to second end  206 . 
     Together, conveyor apparatus  160  and housing  202  form a chute  216  for seeds  146 . Chute  216  extends from inlet  212  to outlet  214 . Bristles  182  of brush  176  at least partially obstruct chute  216  such that brush  176  receives seeds  146  dispensed into the chute. Bristles  182  are flexible to allow displacement of bristles  182  around seeds  146  and are sufficiently resilient to prevent movement of seeds  146  relative to brush  176  and belt  178  when seeds  146  are received by brush  176 . Accordingly, bristles  182  retain seeds  146  on brush  176  as belt  178  moves brush  176  along chute  216  to carry seeds  146  from inlet  212  to outlet  214  of seed tube  158 . 
     First pulley  192  is positioned adjacent first end  204  of seed tube  158  and is drivingly coupled to drive system  180  (shown in  FIG.  3   ). Second pulley  198  (shown in  FIG.  3   ) is positioned adjacent second end  206  and is rotatably mounted to housing  202 . Belt  178  extends around and between first pulley  192  and second pulley  198  such that belt  178  forms a continuous loop around pulleys  192 ,  198  and extends along substantially the entire length of seed tube  158 . Rotation of first pulley  192  causes rotation of belt  178 . In alternative embodiments, conveyor apparatus  160  may have other configurations without departing from some aspects of the disclosure. For example, in some embodiments, conveyor apparatus  160  may include chains, rollers, a pressurized fluid, and/or any other suitable conveyor medium. 
     Referring to  FIG.  5   , row unit  114  further includes at least one nozzle assembly  218  configured to spray fluid F. Nozzle assembly  218  sprays fluid F, or a combination of fluids, on, adjacent to, or otherwise in relation to seeds  146  dispensed by seed tube  158  or existing plants. Nozzle assembly  218  includes a spray nozzle  220  and a valve  222  (e.g., a solenoid valve). Nozzle  220  is any suitable spray nozzle suitable for an agricultural spraying system. Valve  222  is configured to be mounted to and/or integrated within a portion of spray nozzle  220  or nozzle assembly  218  using any suitable mounting configuration and/or any other suitable configuration that permits control of the flow of fluid F through the nozzle  220 . For example, valve  222  is a solenoid valve positioned relative to spray nozzle  220  and controlled by the control system of planter  112  such that flow of fluid F through spray nozzle  220  is modified using pulse width modulation (PWM) control of valve  222 . In other embodiments, valve  222  may be located remote from nozzle  220 . In some embodiments, for example, valve  222  may be mounted or coupled to the conduit or manifold used to supply fluid to nozzle assemblies  218 . In some embodiments, nozzle assembly  218  also includes a spray tip  234  (shown in  FIG.  5   ) coupled to spray nozzle  220  and configured to produce a desired spray pattern. 
     Fluid F is supplied to nozzle assembly  218  from any suitable fluid source (not shown), such as a fluid tank, via a conduit such as a manifold or other suitable flow conduit. In addition, a pump (not shown), such as a centrifugal pump, may be positioned upstream of nozzle assembly  218  for pumping fluid F from the fluid source to the nozzle assembly  218 . Alternatively, the pump may be positioned between a fluid reservoir and a manifold which is in fluid communication with a plurality of nozzle assemblies  218 . The pump pressurizes the manifold with fluid from the reservoir, and nozzle assembly  218  and/or valve  222  controls flow of the pressurized fluid through spray nozzle  220 . In some embodiments, row unit  114  includes a plurality of nozzle assemblies  218  for spraying fluid in parallel rows. In further embodiments, a single nozzle assembly  218  is configured to spray fluid in two or more parallel rows. In still further embodiments, row unit  114  includes a plurality of nozzle assemblies  218  positioned to spray a single row (e.g., furrow). For example, each nozzle assembly  218  may spray a different fluid and may be controlled, by the control system of planter  112 , together or individually (e.g., allowing for different spray band lengths and/or offset distances from seeds  146 ) . 
     As shown in  FIG.  5   , seed planting and agricultural spraying system  112  further includes a spraying assembly  224  that includes a manifold  236  which supplies fluid F and/or other fluids to nozzle assembly  218 . Manifold  236  is coupled to a pump and/or fluid reservoir and is pressurized (e.g., by the pump). Manifold  236  is coupled to nozzle assembly  218  by a suitable fluid conduit  228 , such as a pipe or hose. Valve  222  of nozzle assembly  218  controls the flow of fluid F from fluid conduit  228  to nozzle  220  and spray tip  234  as described herein. For example, a controller  226  and/or the control system of planter  112  sends a pulse width modulated signal to a solenoid valve  222  to control flow of fluid F to nozzle  220 . Spray tip  234  is configured to produce a specified spray pattern. The spray pattern may be pressure dependent. Controller  226  and/or the control system may be configured to control the pressure in manifold  236  to achieve a desired spray pattern in combination with spray tip  234 . In some embodiments, spray tip  234  is interchangeable with other spray tips configured to produce varying spray patterns. In other embodiments, nozzle assembly  218  does not include a spray tip  234 . The type of spray tip  234  and/or parameters describing the spray pattern produced by spray tip  234  may be entered into controller  226  and/or the control system by an operator via a user interface, for example, using a tip calibration screen. Other operating parameters, such as fluid flow rate, fluid pressure, seed population, and speed or velocity of the planter  112  or row unit  114 , may be determined by and/or input to controller  226  and/or the control system (e.g., by an operator using a user interface). Controller  226  and/or the control system may use this information in determining spray band length of fluid F and/or the offset of the spray band from seeds  146 . Spray band length refers to the length of the fluid spray band, measured in the direction of travel of row unit  114  and planter  112 , discharged or dispensed by nozzle assembly  218  during a single on-cycle of valve  222 . 
     Still referring to  FIG.  5   , in some embodiments, spraying assembly  224 , including nozzle assembly  218 , is configured to spray fluid F on and/or adjacent to seed  146  using, in part, one or more sensors. In the illustrated embodiment, for example, spraying assembly  224  includes a seed sensor  250 . Seed sensor  250  is configured to sense, at least, when seed  146  enters, passes through, and/or exits seed tube  158 . For example, sensor  250  may be an optical sensor (e.g., a camera) or a beam break sensor (e.g., infrared beam break sensor) producing a beam which when broken sends a signal (e.g., a change in voltage). Seed sensor  250  may be a mechanical sensor which at least partially obstructs seed tube  158  and that produces a signal (e.g., change in voltage) when seed  146   contacts or moves the mechanical sensor. In alternative embodiments, other suitable sensor(s) are used to detect when seed  146  enters and/or exits seed tube  158 . In further embodiments, sensor  250  is configured to determine a location of seed  146  in furrow  138 . For example, sensor  250  may be or include a camera or acoustic sensor which images or otherwise detects seed  146  in furrow  138 . Additionally or alternatively, spraying assembly  224  may include a second sensor, such as a camera  252 , configured to capture one or more images of each seed  146  or group of seeds  146  after it is dispensed from seed tube  158  and/or as it is being sprayed by the nozzle assembly(ies)  218 . Additional details and operation of seed sensor  250  and camera  252  are described in U.S. Pat. No. 9,763,381, issued Sep. 19, 2017, the disclosure of which is hereby incorporated by reference in its entirety. Using image recognition techniques, distance calculating techniques, and/or a time when seed  146  leaves seed tube  158 , the location of seed  146  may be determined. Sensor(s)  250 ,  252  may send a signal to a controller  226  and/or a control system (shown in  FIG.  6   ) of planter  112  for use in controlling spraying assembly  224 , such as when to actuate valve  222  on nozzle assembly  218 . For example, the signal may be sent to controller  226  when sensor(s)  250 ,  252  sense seed  146  passing a detection location  254  or a suitable time after sensor(s)  250 ,  252  sense seed  146  passing detection location  254 . In some embodiments, the time delay for sensor(s)  250 ,  252  to send the signal may be based on a stored value and/or may be determined based on an operating parameter of planter  112  such as the distance between detection location  254  and outlet  214  of seed tube  158  and/or the number of flights between detection location  254  and outlet  214 . 
     Conventional systems that provide seed-specific placement of agricultural fluids are generally not adapted for use with high-speed planters because such spray systems are not adapted to accurately determine the location or “drop time” of the seeds distributed by the high-speed planters. For example, in a high-speed planter, the time that each seed travels through the seed tube varies based on the travel speed of the planter. In contrast, typical spraying systems for seed-specific placement rely on each seed reaching the ground at a set time after being detected (e.g., based on a free-fall or gravity-based fall of the seed through the seed tube). Such systems do not account for a seed being actively transported or carried through the seed tube, or for variations in the travel time of the seeds through the seed tube based on changes in the travel speed of the planter. Moreover, if the planter includes a plurality of row units, the travel time of the seeds in the seed tube of each row unit may vary based on the position of the row unit relative to a centerline of the high-speed planter. 
     The systems and methods described herein facilitate seed-specific placement of fluid in high-speed planter systems, for example, by providing suitable techniques and algorithms for determining when to actuate the valve in a spraying assembly in a high-speed planter. For example, controller  226  and/or the control system of planter  112  use information received from sensor(s)  250 ,  252  and/or determined or received operating parameters of planter  112  to control spraying assembly  224 . For example, controller  226  and/or the control system of planter  112  may be configured to determine when to open and close valve  222  by analyzing various operating parameters of planter  112 , which may be pre-stored within the controller’s memory and/or received by the controller  226  and/or control system as an input. For example, operating parameters may include, but are not limited to, the vertical distance from inlet  212  of seed tube  158  to sensor  250 , the vertical distance between sensor  250  and furrow  138 , the vertical distance between an outlet of nozzle assembly  218  (e.g., spray tip  234 , if connected) and furrow  138 , a horizontal distance between outlet  214  of seed tube  158  and an outlet of nozzle assembly  218 , an angle at which nozzle assembly  218  is oriented relative to field  102 , the speed of row unit  114 , the number of flights on belt  178 , and/or any other suitable operating parameters. Based on such analysis, controller  226  and/or the control system may be configured to calculate a suitable time delay for actuating valve  222  (e.g., the amount of time between when the sensor  250  detects a seed  146  and when valve  222  is opened to spray fluid F on and/or adjacent to each seed  146 ). As described further herein for example, controller  226  and/or the control system of planter  112  is configured to send a control signal to nozzle assembly  218  to spray fluid F on or adjacent to seed  146  based, in part, on a determined drop or travel time of seed  146 . Controller  226  determines the drop time of seed  146 , i.e., the time required for seed  146  to move from the detection location  254  to furrow  138 , based on a baseline drop time for the seed, a baseline travel speed of the seeder assembly, and an operating travel speed of the seeder assembly. 
     Controller  226  and/or the control system of planter  112  may additionally or alternatively be configured to control the operation of valve  222  such that a specific volume of fluid F is applied on and/or adjacent to each seed  146 . Controller  226  and/or the control system may be configured to analyze one or more operating parameters in order to determine the duration of a valve pulse (e.g., the amount of time valve  222  is opened) to achieve a desired spray volume for each seed  146 . Such operating parameters may include, but are not limited to, the pressure of the fluid F supplied to valve  222 , the configuration of valve  222  (e.g., the sizes of the inlet and/or outlet of the valve  222 ), the configuration of nozzle assembly  218  (e.g., spray tip  234  orifice size), the speed V of row unit  114  and/or any other suitable operating parameters. Controller  226  and/or the control system may be configured to control the duration of the valve pulse in a manner that allows the same volume of fluid F to be sprayed on and/or adjacent to each seed  146 . 
     Controller  226  and/or the control system of planter  112  may also or alternatively be configured to control the operation of valve  222  such that fluid F is applied beginning at a specific offset distance from seed  146 , an existing plant, or other target. For example, the offset distance may be measured from seed  146  extending in the direction of travel of row unit  114  and planter  112 . An offset distance of 0 results in fluid F being applied substantially at seed  146  with fluid extending a spray band length in the direction of travel. An offset distance of greater than 0 results in an offset between seed  146  and the point at which fluid F is applied, such that a gap exists between seed  146  and fluid F, with fluid F extending from the end of the gap and in the direction of travel. An offset distance of less than 0 results in a negative offset such that fluid F is applied starting before seed  146 , continuing on or under seed  146 , and extending from seed  146  in the direction of travel. The offset distance may be provided to controller  226  and/or the control system from an operator via a user interface (shown in  FIGS.  4  and  5   ). Controller  226  and/or the control system may be configured to control the timing of the valve pulse sent to valve  222  such that valve  222  opens and closes at a time that generates the offset of fluid F described herein. 
     Alternatively, controller  226  and/or the control system may be configured to implement a fixed application approach, wherein valve  222  is operated at a constant pulse duration. In such an embodiment, the specific volume of fluid F applied on and/or adjacent to each seed  146  may generally vary depending on the speed V of row unit  114  and/or the pressure of the fluid F supplied to valve  222 . 
     Controller  226  and/or the control system of planter  112  may display the spray band length of fluid F and/or the position of the spray band relative to seeds  146  to the operator of planter  112  using a user interface (shown in  FIG.  6   ). Based on this information, the operator may be able to manually adjust the settings of the spraying assembly  224  and/or planter  112  to achieve desired spray characteristics, such as a desired spray band length and/or a desired spacing between the spray band and a seed  146 , plant, or other target ahead of or behind the spray band relative to the direction of travel of row unit  114  and planter  112 . For example, an operator may adjust, using the control system, the pressure and/or flow rate of the fluid F supplied to the valve  222 , the duration of the valve  222  pulse (e.g., the amount of time valve  222  is open for each spray), the volume of fluid F being sprayed and/or any other suitable operating parameter. The operator may further adjust other settings and/or parameters such as the speed of planter  112  to adjust the spray band length of fluid F and/or the offset of the spray band from seeds  146 . In some embodiments, controller  226  and/or the control system of planter  112  displays images, captured by sensors  250  and/or  252 , of seeds  146  and the spraying of fluid F to an operator of planter  112  allowing for further adjustment of spraying assembly  224  and/or other systems. 
     Moreover, in one embodiment, controller  226  and/or the control system may also be configured to control a flow rate of fluid F supplied to valve  222  by controlling the operation of a suitable flow regulating valve. For example, controller  226  and/or the control system may be configured to determine the flow rate of the fluid F supplied through the fluid conduit  228  based on inputs received from one or more suitable meters and/or sensors positioned upstream of valve  222 , such as one or more turbine meters associated with a pump supplying manifold  236 , one or more tank level meters associated with a fluid source or reservoir supplying manifold  236 , one or more flow meters associated with fluid conduit  228 , one or more pressure sensors and/or other sensors. In addition, controller  226  and/or the control system may also be configured to receive operator inputs, from a user interface, corresponding to a desired flow rate for spraying assembly  224 . Accordingly, based on such inputs, the controller  226  and/or the control system may be configured to control the operation of the flow regulating valve so as to maintain fluid F supplied to valve  222  at the desired flow rate. Controller  226  and/or the control system of planter  112  may further use these inputs to determine the spray band length of fluid F sprayed by spraying assembly  224 . 
     Further, in one embodiment, controller  226  and/or the control system may also be configured to control the pressure of fluid F supplied to valve  222 . For example, one or more pressure sensors may be configured to monitor the pressure of fluid F and transmit pressure measurements to controller  226  and/or the control system. Controller  226  and/or the control system may, in turn, be configured to pulse valve  222  at a suitable frequency and/or duty cycle in order to maintain a specific pressure upstream of valve  222 , such as within fluid conduit  228  or manifold  236 . Such pressure based control may allow controller  226  and/or the control system to vary the amount of fluid F being sprayed on and/or adjacent to each seed  146  while operating valve  222  at a constant pulse duration. 
     Referring now to  FIGS.  5  and  6   , in some embodiments, controller  226  is implemented as part of control system  400  of planter  112  and is not a standalone controller. In alternative embodiments, controller  226  is in communication with control system  400  of planter  112  (e.g., via a data bus). Controller  226  and/or control system  400  may generally be or include any suitable computer and/or other processing unit, including any suitable combination of computers, processing units and/or the like that may be operated independently or in connection within one another. Controller  226  and/or control system  400  may include one or more processor(s)  402  and associated memory device(s)  404  configured to perform a variety of computer-implemented functions (e.g., performing the calculations, determinations, and functions disclosed herein). As used herein, the term “processor” refers not only to integrated circuits, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s)  404  of controller  226  and/or control system  400  may generally be or include memory element(s) including, but not limited to, computer readable medium (e.g., random access memory (RAM)), computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory device(s)  404  may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s), configure or cause controller  226  and/or control system  400  to perform various functions described herein including, but not limited to, controlling seeder assembly  152  (shown in  FIG.  3   ), controlling the operation of valve  222 , calculating time delays for valve  222 , controlling a flow rate of the fluid F supplied to valve  222 , controlling the pressure of the fluid F supplied to valve  222 , determining a spray band length of fluid F, determining a position of the spray band of fluid F (e.g., the coverage on the ground) relative to seeds  146 , receiving inputs from user interface  406 , providing output to an operator via user interface  406 , receiving data from sensor(s)  250 , and/or various other suitable computer-implemented functions. 
       FIG.  6    shows a block diagram of planter  112  according to one embodiment. Control system  400  of planter  112  is coupled to seeder assembly  152 , user interface  406 , and nozzle assembly  218 . Control system  400  is configured to control these and/or other components to perform the functions described herein. Seeder assembly  152  includes motor  174  and motor  200  as described with reference to  FIG.  3   . Control system  400  controls motor  174  and motor  200  by outputting suitable motor control signals to control the rate at which seeds  146  (shown in  FIG.  5   ) are dispensed and/or otherwise controls seeder assembly  152  to perform the functions described herein. Control system  400  further controls nozzle assembly  218  to perform the functions described herein such as controlling when fluid F (shown in  FIG.  5   ) is sprayed, controlling for what length of time fluid F is sprayed, and/or other functions of nozzle assembly  218  described herein. For example, control system  400  controls valve  222  using pulse width modulation as described herein. 
     Control system  400  includes processor  402  and memory  404 . As described above, processor  402  and memory  404  are configured to cause control system  400  to perform the functions described herein. For example, memory  404  may include programs, instructions, formulas, look up tables, databases, and/or other information which, when executed or otherwise utilized by processor  402 , cause performance of the functions of planter  112  and/or row unit  114  described herein. 
     User interface  406  is configured to receive information from an operator and to provide information to the operator. For example, and without limitation, user interface  406  may include input devices including a keyboard, mouse, touchscreen, joystick(s), throttle(s), buttons, switches, and/or other input devices. For example, and without limitation, user interface may include output devices including a display (e.g., a liquid crystal display (LCD), or an organic light emitting diode (OLED) display), speakers, indicator lights, instruments, and/or other output devices. Control system  400  uses information stored in memory  404  to generate a user interface display and to receive information from the operator and display information to the operator. 
     Control system  400  is configured to receive information from user interface  406  including fluid volume information, seed volume information, main pressure information, speed information, and distance from seed information. Fluid volume information is information that control system  400  uses to determine the volume of fluid F to be sprayed on or adjacent to each seed, plant, or other target (e.g., using one or more of the techniques described herein). For example, fluid volume information includes a seed population in thousands of seeds per acre, a number of rows to be sprayed, planter width in inches or centimeters, an application rate in gallons per acre or liters per hectare, and/or other information. Seed volume information is information that control system  400  uses to determine the distance between seeds  146 . For example, seed volume information includes a seed population in thousands of seeds per acre or per hectare, a number of rows to be sprayed, planter width in inches or centimeters, and/or other information. Main pressure information is information that describes, or is used by control system  400  to determine, a pressure at which fluid F is supplied to nozzle assembly  218  (shown in  FIGS.  3  and  5   ). For example, main pressure information includes a pressure in pounds per square inch or newtons per square meter of fluid F in manifold  236  (shown in  FIG.  5   ) that supplies nozzle assembly  218 . Speed information is information that describes the speed of row unit  114  and/or planter  112 . For example, speed information is a speed in miles per hour. Distance from seed (e.g., offset) information is information that specifies a distance between fluid F as applied and seed  146 . For example, distance from seed information is in inches or centimeters. Distance from seed or offset distance information is used by control system  400  to determine the distance between fluid F, as applied, and seed  146 . Control system  400  may also use this information to control nozzle assembly  218  to spray fluid F such that fluid F, as applied, is offset from seed  146  by the specified distance (e.g., using one or more of the techniques described herein). 
     Control system  400  is configured to display information to an operator using user interface  406 . The information displayed may include fluid squirt length and fluid position relative to at least one seed  146 , plant or other target. The information displayed may also include volume information, main pressure information, speed information, and distance from seed information. Control system  400  may also determine a distance between seeds  146  in a single furrow  138  (shown in  FIG.  5   ). Control system  400  determines the distance between seeds  146  based on the population of seeds, number of rows, and the planter width. For example, control system  400  determines the quotient of the number of seeds and the number of rows (e.g., determined based on the planter width). The distance between seeds  146 , e.g., the seed spacing, is a function of seed population and row spacing. 
       FIG.  7    shows an exemplary process  500  for planting seeds  146  (shown in  FIG.  5   ) and spraying fluid F (shown in  FIG.  5   ). Referring to  FIGS.  1 - 5  and  7   , seed meter  156  dispenses  502  seed  146  into seed tube  158 , and conveyor apparatus  160  conveys or carries  504  seed  146  through seed tube  158 . For example, seed meter  156  dispenses  502  seed  146  through inlet  212  of seed tube  158  and toward brush  176 . Brush  176  of conveyor apparatus  160  contacts seed  146  within seed tube  158  and conveys or carries seed  146  through seed tube  158  from first end  204  to second end  206  at a predetermined speed. Belt  178  and brush  176  are driven by drive motor  200  to carry seed  146  through seed tube  158 . 
     Control system  400  determines the speed that conveyor apparatus  160  carries seed  146  through seed tube  158  based on the speed that row unit  114  travels through the field. Accordingly, the speed of conveyor apparatus  160  changes when row unit  114  changes speeds. In addition, the relative speed of row units  114  may be different based on their location relative to centerline  148  of seed planting and agricultural spraying system  112 . Accordingly, each conveyor apparatus  160  may carry  504  seed  146  at a speed selected based on the location of row unit  114  relative to centerline  148  of planter  112  and a detected speed of planter  112 . 
     In the exemplary embodiment, after seed  146  has been dispensed by seed meter  156 , sensor  250  detects  506  seed  146  passing a detection location  254 , and transmits  508  a detection signal to control system  400  upon detection of seed  146  passing detection location  254 . Sensor  250  may detect seed  146  before seed  146  enters seed tube  158 , as seed  146  passes through seed tube  158 , and/or after seed  146  exits seed tube  158 . In the illustrated embodiment, sensor  250  detects seed  146  as it passes through seed tube  158 , and detection location  254  is between first end  204  and second end  206  of seed tube  158 . Conveyor apparatus  160  receives seed  146  at inlet  212  and carries seed  146  through detection location  254 . In alternative embodiments, sensor  250  detects  506  seed  146  before seed  146  enters seed tube  158  such that seed  146  is not carried by conveyor apparatus  160  at detection location  254 . After exiting outlet  214  of seed tube  158 , seed  146  is deposited to furrow  138 . 
     Control system  400  determines  510  a travel time of seed  146  from detection location  254  to furrow  138 . The travel time may be determined based on a baseline drop time for seed  146 , a baseline travel speed of seeder assembly  152 , and an operating travel speed of seeder assembly  152 . The baseline drop time for seed  146  may be determined based on a baseline or model row unit  114  with a gravity-fed seed tube (i.e., without conveyor apparatus  160 ). In the model without conveyor apparatus  160 , seed  146  is allowed to free fall through seed tube  158 , and the velocity of seed  146  is due to the force of gravity. Accordingly, the baseline drop time is calculated based on the gravitational acceleration constant (9.8 meters per second squared, or 32.2 feet per second squared), release height of seed  146 , and the height of detection location  254 . The release height of seed  146  is the distance between inlet  212  of seed tube  158  and furrow  138 . The height of detection location  254  is the distance between detection location  254  and furrow  138 . For example, the baseline drop time may be calculated using the equation: 
     
       
         
           
             t 
             = 
             
               
                 
                   
                     
                       
                         2 
                         × 
                         g 
                         × 
                         
                           H 
                           R 
                         
                       
                     
                   
                 
                 − 
                 
                   
                     
                       
                         2 
                         × 
                         g 
                         × 
                         Δ 
                         H 
                       
                     
                   
                 
               
               g 
             
           
         
       
     
      where t represents the drop time in seconds, g represents the gravitational acceleration constant (9.8 meters per second squared, or 32.2 feet per second squared), H R  represents the release height of seed  146  in meters or feet, and ΔH represents the difference between the release height of seed  146  and the height of detection location  254  in meters or feet. Using the above equation or other drop time equations known in the art, control system  400  may determine a baseline drop time of seed  146  (i.e., a free-fall or gravity-based drop time), which can be used to determine  510  a travel time of seed  146  from detection location  254  to furrow  138  as described further herein. 
     Control system  400  is configured to automatically adjust the speed at which seed  146  is carried by conveyor apparatus  160  when the speed of seed planting and agricultural spraying system  112  changes, i.e., when seed planting and agricultural spraying system  112  slows down or speeds up. Control system  400  determines the speed at which seed  146  is carried by conveyor apparatus  160  based on the speed of seed planting and agricultural spraying system  112 . For example, the speed at which seed  146  is carried by conveyor apparatus  160  may be calculated using the operating speed of seed planting and agricultural spraying system  112  and a value and/or algorithm stored on memory  404  of control system  400 . Accordingly, the speed at which seed  146  is carried by conveyor apparatus  160  varies in accordance with changes in travel speed of seed planting and agricultural spraying system  112 . In contrast, in a system including row unit  114  with a gravity-fed seed tube (i.e., without conveyor apparatus  160 ), the drop time of seeds  146  is the same regardless of the travel speed of seed planting and agricultural spraying system  112 . In the illustrated embodiment, conveyor apparatus  160  allows seed planting and agricultural spraying system  112  to travel at faster speeds in comparison to systems with a gravity-fed seed tube because the application rate of seeds  146  is not limited by the gravity-fed drop time of seeds  146 , i.e., seed planting and agricultural spraying system  112  is able to travel at speeds in which the time spacing between seeds  146  dispensed by row unit  114  is less than the drop time of seeds  146  dispensed through gravity-fed seeds tubes. 
     The baseline travel speed of row unit  114  is determined as the speed at which the drop time of seed  146  carried by conveyor apparatus  160  is equal to the baseline drop time for seed  146 . For speeds of row unit  114  that are faster than the baseline travel speed, the drop time of seeds  146  carried by conveyor apparatus  160  will be less than the baseline drop time. For speeds of row unit  114  that are slower than the baseline travel speed, the drop time of seeds  146  carried by conveyor apparatus  160  will be greater than the baseline drop time. The baseline travel speed may be determined based on operational parameters of row unit  114  and empirical data or observations from field testing of row units  114 . For example, the drop times of seeds  146  may be measured and compared for a range of travel speeds of one or more row units  114  including conveyor apparatus  160  and/or one or more row units  114  including a gravity-fed seed tube. The baseline travel speed may be determined based on the measured values and/or extrapolated values. For example, the baseline travel speed of row unit  114  may be determined by identifying the travel speed of row unit  114  at which the drop time of seeds  146  of row units  114  including conveyor apparatus  160  is equal to the drop time for seeds  146  of row units  114  including the gravity-fed seed tube, i.e., the baseline drop time. The baseline travel speed may be stored in memory  404  and control system  400  may retrieve the baseline travel speed from memory  404  to determine the travel time of seed  146 . In alternative embodiments, the baseline travel speed of row unit  114  may be determined and/or updated based on operating parameters of seed planting and agricultural spraying system  112  determined during operation of seed planting and agricultural spraying system  112 . 
     Control system  400  may determine or receive a scalar value for a specific planter  112  based on the baseline drop time and the baseline travel speed. For example, the scalar value may be the product of the baseline drop time and the baseline travel speed. The scalar value may be provided to and/or stored on a memory  404  of control system  400 . Control system  400  may use the scalar value to simplify calculations of the drop time by allowing control system  400  to skip determining and/or retrieving the baseline drop time and the baseline travel speed each time a drop time is calculated. 
     The “operating” travel speed of row unit  114  refers to the speed of row unit  114  (e.g., along travel direction  34 ) during operation of seed planting and agricultural spraying system  112  (i.e., while seed planting and agricultural spraying system  112  is traveling across a field). Control system  400  receives information relating to the speed of seed planting and agricultural spraying system  112  and determines the operating travel speed of row unit  114  based on the speed of seed planting and agricultural spraying system  112 . For example, the speed information may be a speed provided by a global positioning system (GPS) or other speed sensor. In addition, control system  400  may receive information from an operator that allows control system  400  to determine the relative speed of row unit  114  based on the speed information. The operator information may include a number of row units  114  of the system, a width of each row unit  114 , and/or the location of a speed sensor relative to row unit  114 . Based on the operator information, control system  400  is able to identify centerline  148  of planter  112 , determine the position of a speed sensor relative to centerline  148 , and/or determine the position of each row unit  114  relative to centerline  148 . Control system  400  relates row units  114  to the received speed information and determines the individual travel speeds of row units  114  based on the received and determined information. In some embodiments, one or more of row units  114  may include a sensor that detects the speed of the respective row unit  114  and provides information to control system  400 . 
     Control system  400  determines  510  the drop time, i.e., the travel time of seed  146  from detection location  254  to furrow  138 , by calculating the quotient of the scalar value and the travel speed of row unit  114 . As a result, control system  400  is able to accurately determine individual drop times for each row unit  114  even when seeds  146  are conveyed through seed tubes  158  at different rates. 
     Planter  112  transmits  512  a control signal from control system  400  to valve  222  based on the travel time and the detection signal received from sensor  250 . For example, as described herein, controller  226  and/or the control system of planter  112  may send a pulse width modulated signal to a solenoid valve  222  to control flow of fluid F to nozzle  220 . Also as described herein, the control signal may be varied based on various operating parameters of planter  112  and/or operator inputs including, for example without limitation, the vertical distance between inlet  212  of seed tube  158  and furrow  138 , the vertical distance between the sensor  250  and the furrow  138 , the vertical distance between an outlet of nozzle assembly  218  (e.g., spray tip  234 , if connected) and furrow  138 , a horizontal distance between outlet  214  of seed tube  158  and an outlet of nozzle assembly  218 , an angle at which nozzle assembly  218  is oriented relative to field  102 , and the speed of row unit  114 . 
     Based on at least the volume information, main pressure information, and speed information, control system  400  calculates, or otherwise determines, a fluid squirt length of fluid F (e.g., the length of fluid F as applied to the ground). For example, control system  400  determines a volume of fluid F to be applied per seed  146  by calculating the quotient of the volume of fluid F per acre and the number of seeds  146  per acre. Control system  400  calculates the time valve  222  (shown in  FIG.  5   ) remains open to dispense the volume of fluid F per seed  146  based on the volume of fluid F per seed, the main pressure, and the known geometry and/or other characteristics of spray tip  234  or nozzle  220  (e.g., the area of the opening of spray tip  234 , length and friction loss of spray tip  234 , and/or other information). Control system  400  then calculates the spray band length (e.g., squirt length) based on the time valve  222  remains open and the speed information (e.g., velocity of row unit  114  and/or planter  112 ). 
     Planter  112  actuates  514  valve  222  upon receiving the control signal such that fluid F is sprayed from nozzle assembly  218  on or adjacent to seed  146 . Planter  112  is configured to provide a single discrete spray, i.e., a single shot, per seed  146 . In alternative embodiments, planter  112  may provide more than one spray per seed  146 . In further embodiments, a single spray provided by planter  112  may be associated with two or more seeds  146 , e.g., a group of seeds. 
     Although seed planting and agricultural spraying system  112  is described herein with reference to spraying seeds  146 , planter  112  may generally be utilized to spray any suitable type of plant and/or plant precursor, such as seeds, seedlings, transplants, encapsulated tissue cultures and/or any other suitable plant precursors. 
     Embodiments of the methods and systems described may more efficiently apply fluids to seeds, plants, or other targets as compared to prior methods and systems. For example, the systems and methods described provide for precise placement of a spray relative to a seed that is dispensed by a high-speed planter. 
     Some embodiments involve the use of one or more electronic or computing devices. Such devices typically include a processor, processing device, or controller, such as a general purpose central processing unit (CPU), a graphics processing unit (GPU), a microcontroller, a reduced instruction set computer (RISC) processor, an application specific integrated circuit (ASIC), a programmable logic circuit (PLC), a field programmable gate array (FPGA), a digital signal processing (DSP) device, and/or any other circuit or processing device capable of executing the functions described herein. The methods described herein may be encoded as executable instructions embodied in a computer readable medium, including, without limitation, a storage device and/or a memory device. Such instructions, when executed by a processing device, cause the processing device to perform at least a portion of the methods described herein. The above examples are exemplary only, and thus are not intended to limit in any way the definition and/or meaning of the term processor and processing device. 
     When introducing elements of the present invention or the preferred embodiment(s) thereof, the articles “a”, “an”, “the” and “the” are intended to mean that there are one or more of the elements. The terms “comprising”, “including” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. Moreover, the use of “top”, “bottom”, “above”, “below” and variations of these terms is made for convenience, and does not require any particular orientation of the components. 
     As various changes could be made in the above without departing from the scope of the invention, it is intended that all matter contained in the above description and shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.