Patent Description:
There are many different types of agricultural machines. One such machine is an agricultural sprayer that has an agricultural spraying system. An agricultural spraying system often includes a tank or reservoir that holds a substance to be sprayed (e.g., pesticides, herbicides, fertilizer, etc.) on an agricultural surface, such as a field or crop. Such systems can include a fluid line or conduit mounted on a foldable, hinged, or retractable and extendible boom. The fluid line is coupled to one or more spray nozzles mounted along the boom. Each spray nozzle is configured to receive the fluid and direct the fluid to a crop or field during application. When the sprayer travels through the field, the boom is placed in a deployed position and the substance is pumped from the tank or reservoir, through the nozzles, so that it is sprayed or applied to the field over which the sprayer is traveling.

The agricultural industry utilizes different types of sprayers/spray systems to apply a variety of substances to agricultural surfaces. One such substance is pesticide, which is used to eliminate and/or reduce crop damage due to a variety of pests. In current systems, an aerial vehicle (e.g., an airplane) or a ground vehicle (e.g., a mobile sprayer) is used to travel over the agricultural surface (e.g., crop field) and apply a blanket coverage of pesticide to the crops. These approaches tend to be inaccurate and costly. For example, the blanket application of pesticide can miss the portions of plants that would actually benefit from pesticide and thus pests are not prevented from damaging the crop. Furthermore, in an attempt to cover as much of the crop as possible, much of the pesticide being sprayed goes to waste. Thus, these typical approaches can lead to increased costs and reduced yields.

In the case of corn, for example, the precise placement of certain types of pesticide can be important. Corn plants have both male and female organs. The male organ is located at the top of the plant and includes a tassel. The female organ is located near the middle of the plant and includes ovules and silks. Generally, during reproduction, pollen from the tassel is released and falls towards the silks. Successful pollination occurs when at least one pollen grain lands on a silk. The pollen grain grows a tube through the length of the silk to the ovule, injects genetic material into the ovule and thus produces a zygote.

This process can be disrupted by a variety of factors, including, but not limited to, abiotic factors (e.g., water stress, excessive heat, etc.) and biotic factors (e.g., insects, disease, etc.). A variety of insect species (e.g., Japanese beetle, corn rootworm, beetle, etc.) feed on the silks of corn and can thus reduce the number of ovules fertilized by pollen. Sensing the presence of pests can be used in determining the type and quantity of pesticide/insecticide for a spraying operation to be effective. Typically, silks are only present for about a week. Therefore, accurately spraying the correct pesticide/insecticide in the correct location is helpful.

Another difficulty, in the case of corn, comes with the actual position of the silks on the corn plant. For instance, using the vegetative stage growth model, typical characteristics of the corn plant can be determined. At vegetative emergence (VE) the first leaf (coleoptile leaf) is visible. Then, typically, throughout the remaining vegetative stages (e.g., V1-V23) more leaves on the plant become visible, with each "V number" generally representing the number of visible leaves. Similarly, using the reproductive stage model (e.g., R1 (silking)-R6 (maturity)), various corn plant developments are known. For instance, at the silking stage (R1) the corn silks begin to emerge on the plant. This is typically the most critical stage in terms of crop yield as the fertilization (and thus eventual ear development) occurs. While for many corn plants the silks emerge at certain locations (e.g., between the twelfth and thirteenth leaves (V12 & V13)), the actual location can vary greatly depending on a number of conditions. For example, silk location can vary based on growing conditions (e.g., weather), the cultivar or hybrid of corn, etc. For purpose of illustration, but not by limitation, specific cultivars or hybrids of corn can have specific/unique traits that can be relevant to the application of sprayed substance. For instance, specific cultivars or hybrids of corn can attract varying types of pests, and/or their respective components (e.g. silks, leaves, etc.) can be typically located at different locations, amongst various other characteristics, respectively.

<CIT> describes an autonomous farming system capable of identifying crop with pest locations in images and application of pesticides on identified locations.

<CIT> describes a system for plant parameter detection with an image processing system capable of identifying the location of corn silks.

Spraying pesticides onto a corn crop with current systems (e.g., aerial or ground based spray systems that spray pesticide on the top of the corn canopy) will often result in the pesticide not being applied to the silks, or, it may result in an incorrect quantity and/or type of pesticide being used. Therefore, not only can the pesticide go to waste, but the resulting crop yield can be reduced because the pests are not prevented from destroying the plant (e.g., feeding on the silks and/or ovules). The present description thus proceeds with respect to a sprayer that senses the location of the silks and controllably applies pesticide to that location. The sprayer can be self-propelled or towed.

An agricultural sprayer includes a spraying system that sprays a substance on an agricultural surface and a crop characteristic sensor that senses a crop characteristic of a crop on the agricultural surface and generates a crop characteristic signal indicative of the crop characteristic. The agricultural sprayer further includes a sprayer control system that identifies a position of a component of a crop plant based on the crop characteristic sensor signal and an action signal generator that generates an action signal based on the identified position of the component of the crop plant. The spray control system is configured to identify a position of corn silks on a corn plant, an action signal generator is configured to generate a first control signal that controls a position of at least one of the actuatable spray nozzles to spray the substance onto the identified position of the corn silk of the corn plant. The spray control system further comprises a sprayer performance system configured to receive, from a spray pattern sensor, a spray pattern sensor signal indicative of a coverage of the substance sprayed onto the identified position of the corn silks and generate a performance metric based on the coverage of the substance sprayed onto the identified position of the corn silks, and the action signal generator is configured to generate a second control signal that adjusts the position of at least one of the actuatable spray nozzles based on the coverage.

<FIG> illustrates an agricultural environment <NUM> in which one example of an agricultural sprayer system <NUM> is shown. Sprayer system <NUM> is shown with a towing vehicle <NUM> towing a towed implement <NUM> having a tank <NUM> containing a substance that is to be applied to agricultural surface <NUM>. Tank <NUM> is fluidically coupled to spray nozzles <NUM> by a delivery system comprising a set of conduits. A fluid pump is configured to pump the liquid from tank <NUM> through the conduits and through spray nozzles <NUM>. Spray nozzles <NUM> are coupled to vertical spray arms <NUM> which are coupled to and spaced apart along boom <NUM>. Boom <NUM> includes boom arms <NUM> and <NUM> which can articulate or pivot relative to a center frame <NUM>. Thus, boom arms <NUM> and <NUM> are movable between a storage or transport position and an extended or deployed position (shown in <FIG>).

In the example shown in <FIG>, vehicle <NUM> is a tractor having an operator compartment or cab <NUM>. Vehicle <NUM> also includes a set of traction elements as well, such as wheels <NUM>. The traction elements can also be tracks, or other traction elements. It is noted that in other examples, sprayer system <NUM> is self-propelled. That is, rather than being towed by a towing vehicle <NUM>, the machine that carries the spraying system also includes propulsion and steering systems.

Sprayer system <NUM> further includes a number of sensors <NUM> (identified as <NUM>-<NUM> to <NUM>-<NUM>) coupled to and placed at various locations on components of sprayer system <NUM>. Sensors <NUM> can be located on towing vehicle <NUM>, implement <NUM>, including boom <NUM> and vertical spray arms <NUM>, as well as various other locations within sprayer system <NUM>. In the example illustrated in <FIG>, agricultural sprayer system <NUM> also includes a sensor boom <NUM>, having sensor boom arms <NUM> and <NUM>, coupled to towing machine <NUM>. Sensor boom <NUM> includes a number of sensors <NUM>-<NUM> coupled to and spaced apart along arms <NUM> and <NUM> so that they travel between the crop rows.

As will be discussed in more detail herein, sensors <NUM> are, in one example, configured to sense various characteristics of an agricultural environment, including, but not limited to, the location and position of the corn silks on the corn plants. Sensors <NUM> generate sensor signals indicative of the identified corn silk position. Those sensor signals can be received by a control system configured to generate control signals to adjust the application of the substance to be sprayed as well as other various operating parameters of sprayer system <NUM>. Thus, a pesticide, for example, can be accurately sprayed on the corn silks.

<FIG> shows that the sensors can be mounted at one or more locations in the sprayer system <NUM>. For example, they can be forward-looking sensors <NUM>-<NUM> mounted on towing vehicle <NUM>. They can be side-looking sensors <NUM>-<NUM> mounted to implement <NUM> and aimed to look to the sides of implement <NUM>, forward of nozzles <NUM>. They can be forward-looking sensors <NUM>-<NUM> mounted on locations spaced along boom <NUM> and aimed to look forward of boom <NUM>. They can be sensors <NUM>-<NUM> that are mounted to travel beneath the crop canopy. They can be sensors <NUM>-<NUM> that are mounted to travel ahead of implement <NUM> and below the crop canopy on sensor boom <NUM>. It is noted that these are only some examples of the locations of sensors <NUM>, and that sensors <NUM> can be mounted to one or more of these locations or various other locations within sprayer system <NUM>.

<FIG> illustrates an agricultural environment <NUM> in which a portion of agricultural sprayer system <NUM> is shown traveling over an agricultural surface <NUM>. <FIG> shows that the spray nozzles can be mounted on one or more locations of the vertical spray arms <NUM>. For example, there can be a plurality of individually controllable spray nozzles disposed on both sides of a vertical spray arm <NUM>, as shown for vertical spray arm <NUM>-<NUM>. There can be a number of individually controllable spray nozzles disposed on only one side of a vertical spray arm <NUM>, as shown with vertical spray arm <NUM>-<NUM>. There can be a single controllable spray nozzle in a fixed location disposed on only one side of a vertical spray arm <NUM>, as shown for vertical spray arm <NUM>-<NUM>. There can be a single controllable spray nozzle disposed on one side and operably movable along a vertical axis <NUM> of a vertical spray arm <NUM>, as shown for vertical spray arm <NUM>-<NUM>. It is noted that these are only some examples of the number, locations and operability of the spray nozzles <NUM>, and that any number of spray nozzles <NUM> can be mounted at various locations within sprayer system <NUM> (e.g., vertical spray arms <NUM>, along the sprayer boom <NUM> such as along arms <NUM> and <NUM>), and operable in any number of ways, including those shown in <FIG>.

While specific examples are shown in <FIG>, it is to be understood that any number of examples or combinations thereof are contemplated herein, including, but not limited to any number of spray nozzles disposed in any number of locations along vertical spray arms or a boom arm, each individual spray nozzle being static or controllable in any number of ways. In other examples, the operation, orientation, or position of individual vertical spray arms <NUM>-<NUM> to <NUM>-<NUM> can be controlled. For example, but not by limitation, spray arms <NUM>-<NUM> to <NUM>-<NUM> can be retracted or extended or their orientation (e.g., tilt) can be adjusted. This can be done using actuators or manually. Additionally, while vertical spray arms <NUM> are shown in the example in <FIG>, this need not be the case. In one example, spray nozzles <NUM> can be coupled to and spaced apart along boom arm <NUM>. Furthermore, the spray nozzles can be configured to travel through the crop (e.g., between the rows and below the crop canopy) or over the crop (e.g., above the canopy). All of these, and other configurations, are contemplated herein.

<FIG> also shows that sensors can be mounted in various locations. For example, sensors <NUM>-<NUM> can be mounted on boom arm <NUM>. Sensor <NUM>-<NUM> can be mounted on vertical spray arms <NUM>, so they travel between the crop rows <NUM> and below the crop canopy. They are shown proximate a top portion of vertical spray arms <NUM> but they can be mounted at other locations as well. Sensors <NUM>-<NUM> are shown in an example where sensor boom <NUM> is used. They can be mounted to sensor boom <NUM> at a variety of different locations. Sensor boom <NUM> can have vertically oriented arms, like arms <NUM>, with sensors mounted on them as well. These are examples only. Some of the various sensor and nozzle configurations will now be discussed in more detail.

Environment <NUM> includes field <NUM>, corn plants <NUM>, tassels <NUM>, silks <NUM>, crop rows separated by row spacing <NUM> and pests <NUM>. As agricultural sprayer system <NUM> travels over field <NUM>, sensor boom arm <NUM> travels ahead of spray nozzles <NUM> and above the crop (e.g., corn plants <NUM>). Although, in other examples it can have depending arms configured to travel between the crop rows. Sensors <NUM>-<NUM> sense a characteristic of the crop and/or agricultural surface. For example, sensors <NUM>-<NUM> can sense a position of a component of corn plants <NUM> (e.g., position of silks <NUM>). In another example, sensors <NUM>-<NUM> can sense a presence of pests <NUM> (e.g., quantity, type, position on plant, etc.). For instance, sensors <NUM>-<NUM> can be optical sensors or other sensors. Sensors <NUM>-<NUM> generate sensor signals indicative of the sensed characteristic and provide them to a control system (discussed in more detail below) which can generate control signals to control one or more of the controllable subsystems of sprayer system <NUM> based on the sensor signals. For example, but not limited to, controlling operation, orientation, position, spray characteristics (e.g. spray pattern, volume, pressure, flow rate, etc.), etc. of spray nozzles <NUM>.

As boom arm <NUM> travels behind sensor boom arm <NUM> and above the crop, vertical spray arms <NUM> depend from boom arm <NUM> and travel between the crop rows. Therefore, spray nozzles <NUM> are configured to apply a substance to corn plants <NUM>. In some examples, the boom arm can be configured so nozzles <NUM> travel below the crop canopy. In the example illustrated in <FIG>, the alignment of sensor boom arm <NUM> and boom arm <NUM> can be such that, for each crop row <NUM>, there is a corresponding sensor <NUM>-<NUM>, vertical spray arm <NUM> and number of spray nozzles <NUM>. For example, the individual sensors <NUM>-<NUM>(a) through <NUM>-<NUM>(d) can generate sensor signals used to control spray nozzles <NUM> mounted to each individual vertical spray arm <NUM>-<NUM> to <NUM>-<NUM> respectively. Thus, the agricultural spray system can be controlled in a way that accounts for the plant characteristics and/or presence of pests for each plant <NUM> in each row <NUM> in field <NUM>.

However, other systems and methods are contemplated herein. For example, a spray application map of field <NUM> can be generated prior to the agricultural spray system operating on field <NUM>. A vehicle (e.g., Unmanned Aerial Vehicle [UAV], ground vehicle, etc.), having various sensors, can travel over field <NUM> and generate a spray application map indicative of characteristics of the plants (e.g., position of silks <NUM>), or presence of pests (e.g., quantity, position, type, etc.) in field <NUM> which can be stored in memory and accessed by the agricultural spray system to control spray nozzles <NUM>. Additionally, while a sensor boom arm <NUM> is shown, this need not be the case. For example, forward looking sensors on towing vehicle <NUM> (e.g., sensors <NUM>-<NUM>) or sensors on implement <NUM> (e.g., sensors <NUM>-<NUM>) can be used in addition to, or instead of the sensors <NUM>-<NUM> on sensor boom arm <NUM>. Similarly, sensors on boom arm <NUM> (e.g., sensors <NUM>-<NUM>) and/or sensors on vertical spray arms <NUM> (e.g., sensors <NUM>-<NUM>) can be used (in addition to, or instead of, other sensors <NUM>) to provide real-time or near real-time sensor signals indicative of characteristics of corn plants <NUM> or the presence of pests <NUM>.

As mentioned above, in the example shown in <FIG>, each vertical spray arm <NUM> can include a number of spray nozzles <NUM> and sensors <NUM>-<NUM>. Vertical spray arms <NUM> include a wide variety of nozzle arrangements. For example, vertical spray arm <NUM>-<NUM> is shown with spray nozzles <NUM> on both sides, configured to apply a substance to plants in the rows on either side of arm <NUM>-<NUM>. The operation, spray characteristics, orientation, and position of individual spray nozzles <NUM> can be controlled (e.g., automatically by a control system or manually by an operator). In some examples, the nozzles can be controlled individually to cover corn silks. In another example, they can be controlled in sets as an entire group.

In the example shown in <FIG>, for instance, spray nozzles <NUM>-<NUM> and <NUM>-<NUM> are shown tilted at an angle relative to a longitudinal axis of arm <NUM>-<NUM> to better cover corn silk <NUM>-<NUM>. In the case where the individual spray patterns of both nozzles <NUM>-<NUM> and <NUM>-<NUM> cover the position of corn silk <NUM>-<NUM>, they can be controlled individually so that only one of them applies the substance to corn silk <NUM>-<NUM>. Alternatively, if the corn silk is in such a position that multiple spray nozzles can be used to effectively cover it, then multiple spray nozzles <NUM> can be oriented and operated to spray the substance onto the corn silk. In the example shown in <FIG>, spray nozzle <NUM>-<NUM> can be oriented and operated to apply substance to corn silk <NUM>-<NUM> while the remaining spray nozzles <NUM> may remain off. Additionally, if the corn plant has multiple silks on one side, multiple spray nozzles <NUM> can be individually controlled such that all of the silks are covered with the sprayed substance.

The example illustrated in <FIG> also shows a pest <NUM>-<NUM> located on corn plant <NUM>. The position of pest <NUM>-<NUM> can be sensed by sensors <NUM>-<NUM>, <NUM>-<NUM>, and/or <NUM>-<NUM> (as well as other sensors <NUM> mounted on sprayer system <NUM>) and a control system can control one or more of the spray nozzles <NUM> to apply spray to the detected position of pest <NUM>-<NUM>. In one example, one spray nozzle can be controlled to apply substance to a detected position of a corn silk while another spray nozzle can be controlled to apply substance to a detected position of a pest. Similarly, a single spray nozzle can be dynamically controlled, using an actuator that controls where the spray nozzle is pointing, to first apply substance to a first position (e.g., detected position of pest, corn silk, etc.) and then to a second position (e.g., detected position of pest, corn silk, etc.).

Vertical spray arm <NUM>-<NUM> shows a nozzle configuration that includes spray nozzles <NUM> on one side configured to apply substance to plants on the corresponding side of crop row <NUM>-<NUM>. As illustrated in <FIG>, the individual orientation (e.g., tilt) of spray nozzles <NUM>-<NUM> and <NUM>-<NUM> is controlled such that their respective spray patterns cover corn silk <NUM>-<NUM>. Again, the nozzles <NUM>-<NUM> and <NUM>-<NUM> can be aimed by controlling an actuator that drives movement of the nozzle or by an operator.

Vertical spray arm <NUM>-<NUM> shows a nozzle configuration that includes a single spray nozzle <NUM>-<NUM> that can be in a fixed position on a side of vertical spray arm <NUM>-<NUM> but the orientation (e.g., tilt) can be controlled (e.g., automatically by a control system and an actuator, or manually by an operator, etc.) such that spray nozzle <NUM>-<NUM> desirably applies a substance to plants on one side of crop row <NUM>-<NUM>. In the example shown in <FIG>, spray nozzle <NUM>-<NUM> is tilted at a downward angle such that its spray pattern will cover corn silk <NUM>-<NUM>.

Vertical spray arm <NUM>-<NUM> shows a nozzle configuration that includes a single spray nozzle <NUM>-<NUM> that is operably moveable along a side of vertical spray arm <NUM>-<NUM> (in the direction indicated by arrow <NUM>) such that its spray pattern will cover corn silk <NUM>-<NUM> on the corresponding side of crop row <NUM>-<NUM>. The position and movement of spray nozzle <NUM>-<NUM> can be controlled, for example, automatically by a control system and an actuator or manually by an operator.

As mentioned above, boom arm <NUM> and vertical spray arms <NUM> can include sensors <NUM>-<NUM> and <NUM>-<NUM> respectively. Sensors <NUM>-<NUM> and <NUM>-<NUM> can be multi-purpose sensors. For example, sensors <NUM>-<NUM> or <NUM>-<NUM> can be optical sensors that provide real-time or near real-time sensor signals indicative of a position of a component of a plant on field <NUM> (e.g., position of corn silks <NUM> on corn plants <NUM>) or the presence of pests (e.g., quantity, type, position of pests <NUM>), or both, for the control of spray nozzles <NUM>.

Additionally, sensors <NUM>-<NUM> or <NUM>-<NUM> can be used for closed-loop control of the agricultural sprayer system <NUM>. For example, sensors <NUM>-<NUM> or <NUM>-<NUM> can be used to detect and control the coverage of the applied substance for purposes of quality control or to detect error conditions of the agricultural sprayer system. As an example, sensors <NUM>-<NUM> or <NUM>-<NUM> can detect that the substance being sprayed is not adequately covering the plants (e.g., not covering the detected positions of corn silks or pests). In such a case, adjustments can be made to the agricultural sprayer system to compensate. For example, but not by limitation, an adjustment can be made to the operation, spray characteristics, orientation or position of spray nozzles <NUM> or the output (e.g., fluid pressure, type of substance, quantity, etc.) of the fluid pump that delivers fluid from the fluid tank <NUM>. For instance, upon the detection of pests <NUM> a determination can be made by the control system as to the type and quantity of pests <NUM>. A control signal can then be generated to control an amount and/or type of substance output by the tank <NUM>.

In another example, sensors <NUM>-<NUM> or <NUM>-<NUM> can detect that one or more of spray nozzles <NUM> is not operating (e.g., it is plugged). In such a case, an indication of an operating error can be surfaced to a user (e.g., it can be surfaced on a user interface in cab <NUM> of towing vehicle <NUM> or to a remote user, such as a handheld device or remote user interface). It should also be understood that the sensors discussed with reference to <FIG> and <FIG>, and others that will be discussed further herein, can comprise any number of sensors configured to sense or otherwise detect any number of characteristics.

<FIG> is a block diagram of one example of an agricultural spraying system architecture <NUM> having an agricultural sprayer system <NUM> configured to perform a spraying operation on an agricultural surface, such as field <NUM>. Some items are similar to those shown in <FIG> and <FIG> and they are similarly numbered. <FIG> shows that agricultural sprayer system <NUM> can include a control system <NUM>, one or more controllable subsystems <NUM>, communication system <NUM>, one or more processors or servers <NUM>, data store <NUM> and it can include other items <NUM>. Control system <NUM> can include communication controller <NUM>, spray control system <NUM>, machine propulsion controller <NUM>, machine steering controller <NUM> and it can include other items <NUM>. Controllable subsystems <NUM> can include spraying subsystem <NUM>, nozzle position subsystem <NUM>, propulsion subsystem <NUM>, steering subsystem <NUM> and it can include other items <NUM>. Spraying subsystem <NUM>, itself, can include one or more pumps <NUM>, one or more substance tanks <NUM>, nozzles <NUM> and it can include other items <NUM>.

<FIG> also shows that sensor(s) <NUM> can include any number of different types of sensors that sense or otherwise detect any number of characteristics. In the illustrated example, sensor(s) <NUM> include crop characteristic sensor(s) <NUM>, pest detection sensor(s) <NUM>, positional sensor(s) <NUM>, substance operation sensor(s) <NUM>, spray pattern sensor(s) <NUM>, terrain sensor(s) <NUM>, weather sensor(s) <NUM>, geographic position sensor(s) <NUM>, and can include other sensor(s) <NUM> as well.

Sprayer system <NUM> can comprises a towed implement (as shown in <FIG>) or it can be self-propelled. <FIG> illustrates this with a dashed box <NUM> representing a towing vehicle, such as a tractor that is coupled to sprayer system <NUM> through one or more links <NUM> (electrical, mechanical, hydraulic, pneumatic, etc.).

Control system <NUM> is configured to control other components and systems of sprayer system <NUM>. For instance, communication controller <NUM> is configured to control communication system <NUM>. Communication system <NUM> is used to communicate between components of sprayer system <NUM> and/or with other systems, such as remote computing system(s) <NUM> over a network <NUM>. Network <NUM> can be any of a wide variety of different types of networks such as the Internet, a cellular network, a wide area network (WAN), a local area network (LAN), a controller area network (CAN), a near-field communication network, or any of a wide variety of other networks or combinations of networks or communication systems.

A remote user <NUM> is shown interacting with remote computing system(s) <NUM>. Remote computing system(s) <NUM> can be a wide variety of different types of systems. For example, remote computing system(s) <NUM> can be in a remote server environment. Further, it can be a remote computing system (such as a mobile device) a remote network, a farm manager system, a vendor system, or a wide variety of other remote systems. Remote computing system(s) <NUM> can include one or more processors or servers, a data store, and it can include other items as well.

Before discussing the overall operation of agricultural sprayer system <NUM>, a brief description of some of the items in system <NUM>, and their operation, will first be provided.

Communication system <NUM> can include wireless communication logic, which can be substantially any wireless communication system that can be used by the systems and components of sprayer system <NUM> to communicate information to other items, such as between control system <NUM>, sensor(s) <NUM>, controllable subsystem(s) <NUM>, and spray control system <NUM>. In another example, communication system <NUM> communicates over a controller area network (CAN) bus (or another network, such as an Ethernet network, etc.) to communicate information between those items. This information can include the various sensor signals and output signals generated by the sensor characteristics and/or sensed characteristics, and other items.

Crop characteristic sensor(s) <NUM> are configured to sense various characteristics relative to crops and crop plants on an agricultural surface. For example, crop characteristic sensor(s) <NUM> can be configured to sense a position of a component of a crop plant. For illustration, but not by limitation, crop characteristic sensor(s) <NUM> can sense a height of corn silks <NUM> on a corn plant <NUM>.

Pest detection sensor(s) <NUM> are configured to sense various characteristics relative to the presence of pests on an agricultural surface. For example, pest detection sensor(s) <NUM> can be configured to sense a quantity, a position and/or a type of pest on an agricultural surface. For instance, pest detection sensor(s) <NUM> can sense a quantity of pests on corn silks <NUM> as well as the type of pest, as well as the pests position (e.g., on the corn silks).

Position sensor(s) <NUM> are configured to sense position information relative to various components of agricultural spraying system <NUM>. For example, a number of position sensor(s) <NUM> can be disposed at locations extending along the boom arm(s) <NUM>, sensor boom arm(s) <NUM>, vertical spray arm(s) <NUM>, sprayer nozzle(s) <NUM>, etc. They can thus detect a position and/or orientation of the boom arm(s), the sensor boom arm(s), the vertical spray arm(s), the sprayer nozzle(s) etc., relative to other components of sprayer system <NUM> and/or components of the agricultural environment, such as the ground. Position sensor(s) <NUM> can, for example, sense a height and/or orientation (e.g., tilt) of one or more of the components of sprayer system <NUM>. For instance, position sensor(s) <NUM> can sense the height of the sprayer nozzle(s) relative to the ground, the distance and/or height of the sprayer nozzle(s) from corn silks <NUM>, etc. In another example, once the position of a sensor is detected, then, by knowing the dimensions of the sprayer, the position and orientation of other items can be calculated.

Substance operation sensor(s) <NUM> are configured to sense characteristics relative to the substance to be sprayed by sprayer system <NUM>. For example, substance operation sensor(s) <NUM> can sense operational characteristics of the spraying subsystem <NUM>. For illustration, but not by limitation, substance operation sensor(s) <NUM> can sense the pressure of fluid within the substance tank(s) <NUM>, the pressure at which the fluid pump(s) <NUM> are pumping the substance, a flow rate of the substance through the conduits, the pressure of the fluid within the conduits, along with various other characteristics of the operation of the substance to be sprayed within sprayer system <NUM>.

Spray pattern sensor(s) <NUM> are configured to sense the spray from the spray nozzles (e.g., <NUM>). For example, but not by limitation, spray pattern sensor(s) <NUM> can sense the spray distance (e.g., distance of nozzle tip to target), the spray angle, spray coverage, spray impact, spray pattern shape (e.g., fan, cone, solid stream, flat, etc.) along with various other characteristics relative to a sprayed substance.

Terrain sensor(s) <NUM> are configured to sense characteristics of the agricultural surface (e.g., field <NUM>) over which sprayer system <NUM> is traveling. For instance, terrain sensor(s) <NUM> can detect the topography of the field (which may be downloaded as a topographical map or sensed with sensors) to determine the degree of slope of various areas of the field, to detect a boundary of the field, to detect obstacles or other objects on the field (e.g., rocks, root-balls, trees, etc.), among other things.

Weather sensor(s) <NUM> are configured to sense various weather characteristics relative to the agricultural surface. For example, weather sensor(s) <NUM> can detect the direction and speed of wind traveling over the agricultural surface over which sprayer system <NUM> is traveling. They can detect precipitation, humidity, temperature or other conditions. This information can be obtained from a remote weather service as well.

Geographic position sensor(s) <NUM> include location sensor(s) <NUM>, heading/speed sensor(s) <NUM>, and can include other sensor(s) <NUM> as well. Location sensor(s) <NUM> are configured to determine a geographic location of sprayer system <NUM> on the field. Location sensor(s) <NUM> can include, but are not limited to, a Global Navigation Satellite System (GNSS) receiver that receives signals from a GNSS satellite transmitter. It can also include a Real-Time Kinematic (RTK) component that is configured to enhance the precision of position data derived from the GNSS signal. They can include other satellite-based sensors, cellular triangulation sensors, dead reckoning sensors, etc..

Heading/speed sensor(s) <NUM> are configured to determine a heading and speed at which sprayer system <NUM> is traversing the field during the spraying operation. This can include sensors that sense the movement of ground-engaging elements (e.g., wheels or tracks <NUM>) and/or can utilize signals received from other sources, such as location sensor(s) <NUM>.

Sensor(s) <NUM> can comprise any number of different types of sensors. For example, but not by limitation, sensor(s) <NUM> can include potentiometers, Hall Effect sensors, various mechanical and/or electrical sensors. Sensor(s) <NUM> can also comprise various electromagnetic radiation (ER) sensors, optical sensors, imaging sensors, thermal sensors, LIDAR, RADAR, Sonar, radio frequency sensors, audio sensors, inertial measurement units, accelerometers, pressure sensors, flowmeters, etc. Additionally, while multiple sensors are shown, sensor(s) <NUM> can comprise a single sensor configured to produce a single sensor signal indicative of multiple characteristics. For instance, sensor(s) <NUM> can comprise an imaging sensor mounted on sprayer system <NUM>, towing vehicle <NUM>, or other vehicles <NUM>. The imaging sensor can generate an image that is indicative of both characteristics relative to pest detection (e.g., type, position, quantity, etc.) as well as characteristics relative to the crop (e.g., position of silks on corn). Additionally, it is to be understood that some or all of the sensor(s) <NUM> can be a controllable subsystem of sprayer system <NUM>. For example, control system <NUM> can generate a variety of control signals to control the operation, position, orientation as well as various other operating parameters of sensor(s) <NUM>. For instance, because the leaves on a corn plant can obscure the line of view for detecting a corn silk, sensor(s) <NUM> can be controlled to adjust their position and/or orientation to adjust thereby their line of sight to the corn plant and thus the corn silk.

Controllable subsystem(s) <NUM> illustratively include spray subsystem <NUM>, nozzle position subsystem <NUM>, propulsion subsystem <NUM>, steering subsystem <NUM> and can include other subsystems <NUM> as well. The subsystems <NUM> are now briefly described.

Spraying subsystem <NUM> includes one or more pumps <NUM> configured to pump substance (e.g., pesticide, insecticide, etc.) from substance tank(s) <NUM> through conduits to spray nozzle(s) <NUM> which can be mounted on, for example, a boom, on vertical spray arms, as well as various other locations on sprayer system <NUM>. Spraying subsystem <NUM> can include other items <NUM> as well. For example, spraying subsystem <NUM> can include a valve subsystem that can include a variety of controllable valves placed in various locations within spraying system <NUM>. For instance, some or each of spray nozzle(s) <NUM> can have an associate valve (e.g. pulse-width modulation valve, solenoid, etc.) that can be controllably operated, for example, controllably operated between an on (e.g. open) and off (e.g. closed) position, as well as controlling the flow of substance through the valves (e.g. flow rate). Additionally, controllable valves can be placed along the fluid conduit (e.g. extending from the pump to the spray nozzle(s) <NUM> to control the flow of substance through the fluid conduit.

Substance tank(s) <NUM> can comprise multiple hoppers or tanks, each configured to separately contain a different type of substance (e.g., different types of pesticide/insecticide) which can be selectively pumped by pump(s) <NUM> through conduits to spray nozzle(s) <NUM>. For instance, upon pest detection sensor(s) <NUM> sensing the presence of a type of pest on an agricultural field <NUM> and generating sensor signal(s) indicative of the sensed presence, spray control system <NUM> can determine, for example, the type, quality, position, etc., of pests on the agricultural surface and generate a control signal to control pump(s) <NUM> to pump substance from one of the multiple hoppers containing the desired pesticide based on the sensor signal. In another example, pump(s) <NUM> can have controllable operational variables (e.g., pressure, speed, flowrate, etc.) that can be controlled by control system <NUM>. For example, but not by limitation, upon crop characteristic sensor(s) <NUM> sensing the position of silks <NUM> relative to corn plant <NUM> on the agricultural surface and generating sensor signal(s) indicative of the sensed position, spray control system <NUM> can determine, for example, the position (e.g., height relative to the ground) of the corn silk <NUM> on the corn plant <NUM> and generate a control signal to control pump(s) <NUM> to increase or decrease the operating pressure of pump(s) <NUM> based on the sensor signal.

Nozzle position subsystem <NUM> is configured to move various components of agricultural sprayer system <NUM>. For example, nozzle position subsystem <NUM> can include a number of actuators (such as electrical, pneumatic, hydraulic or mechanical actuators) that are coupled to various components to adjust a position and/or orientation of the various components. For instance, nozzle position subsystem <NUM>, in one example, can aim the nozzles by adjusting a position (such as the height) and/or orientation (e.g., tilt or direction of spray) of spray nozzle(s) <NUM>. In another example, nozzle position subsystem <NUM> can adjust a position and/or orientation of vertical spray arms <NUM>. Position subsystem <NUM> can, in one example, adjust the position and/or orientation of spray nozzle(s) <NUM> and/or vertical spray arms <NUM> based upon control signals generated by spray control system <NUM>, which can be based on the sensed position of corn silks <NUM> on corn plants <NUM> by crop characteristic sensor(s) <NUM> or the presence of pests on the agricultural surface such that the substance is sprayed on the corn silks, or is applied to the pests.

Propulsion subsystem <NUM> is configured to propel sprayer system <NUM> over the agricultural surface. It can include a power source, such as an internal combustion engine or other power source, and a set of ground-engaging elements (e.g., wheels or tracks <NUM>). In one example, propulsion system <NUM> can adjust the speed of sprayer system <NUM> based on control signals received from machine velocity controller <NUM>, which can be based on a detected wind speed and/or direction by weather sensor(s) <NUM>.

Steering subsystem <NUM> is configured to control the heading of sprayer system <NUM>, by steering the ground-engaging elements (e.g., wheels or tracks <NUM>). Steering subsystem <NUM> can adjust the heading of sprayer system <NUM> based on control signals generated by control system <NUM>. For example, based on a sensed location from location sensor(s) <NUM>, machine steering controller <NUM> can generate control signals to control steering subsystem <NUM> to adjust the heading of sprayer system <NUM> to comply with a desired course based on a spray application map.

The application map can be generated based upon, for example, characteristics (e.g., position of corn silks on corn plants, presence of pests, etc.) of the agricultural surface sensed by various sensors on a UAV or ground vehicle that travels over the agricultural surface prior to sprayer system <NUM> commencing a spraying operation on the surface. In another example, based on sensed characteristics of the agricultural surface (e.g., the sensed position of corn silks, the presence of pests), machine steering controller <NUM> can generate control signals to control steering subsystem <NUM> to adjust the heading of sprayer system <NUM> to control the distance of spray nozzle(s) <NUM> relative to the plants. These are examples only.

Control system <NUM> is configured to receive sensor signals from sensor(s) <NUM> indicative of various characteristics, as well as from other components of sprayer system <NUM> (e.g., data store <NUM>). System <NUM> generates a variety of control signals to control controllable subsystems <NUM> based on the received sensor signals.

Spray control system <NUM> controls the spraying operation and performance of sprayer system <NUM>. For example, it can generate control signals for spraying subsystem <NUM> to adjust a position and/or orientation of spray nozzle(s) <NUM> based on sensor signals received from sensor(s) <NUM>. Spray control system <NUM> can generate control signals for spraying subsystem <NUM> to adjust the flow and/or pressure of the substance to be sprayed to and through spray nozzle(s) <NUM>, for instance by controlling the operation of a valve associated with the spray nozzle, such as a pulse-width modulation valve. Machine propulsion controller <NUM> controls the velocity of sprayer system <NUM> by generating control signals for propulsion subsystem <NUM>. Machine steering controller <NUM> controls the heading of sprayer system <NUM> by generating control signals for steering subsystem <NUM>.

Sprayer system <NUM> includes a data store <NUM> configured to store data for use by sprayer system <NUM>, such as agricultural surface data <NUM>, which can include a variety of data relative to field <NUM>, crop characteristic data <NUM>, which can include a variety of data relative to the crop (e.g., position of corn silks <NUM> on corn plants <NUM>), pest detection data <NUM>, which can include a variety of data relative to the presence of pests on the agricultural surface (e.g., position, quantity, type of pests, etc.), as well as other data <NUM>.

Sprayer system <NUM> also includes one or more processors or servers <NUM>. It can include other items <NUM> as well.

As illustrated in <FIG>, a towing vehicle <NUM> (or vehicle) can tow agricultural spraying machine <NUM>. Towing machine <NUM> can include a communication system <NUM> configured to communicate with communication system <NUM> or with, for example, remote computing system(s) <NUM> over network <NUM>. Towing machine <NUM> can also include one or more processors or servers <NUM>, a data store <NUM>, and it can include other items <NUM> as well. Additionally, as illustrated, towing machine <NUM> can include control system <NUM>, sensor(s) <NUM> and controllable subsystem(s) <NUM>.

Architecture <NUM> further includes other vehicle(s) <NUM> (e.g., UAV, ground vehicle, etc.). As mentioned above with reference to <FIG> and <FIG>, additional vehicles <NUM> can be used in the performance of a spraying operation on an agricultural surface. For example, a UAV or ground vehicle <NUM> traveling over the agricultural surface, can be used to sense a variety of characteristics relative to the agricultural surface. These can characteristics can include position of components of crop plants, presence of pests, etc. Vehicle <NUM> can also generate control signals to control the operation of the agricultural sprayer system <NUM> (e.g., generate a spray application map, used by machine steering controller <NUM>, and other items, to control the heading of agricultural machine <NUM>, the application of herbicide/pesticide, etc.). In another example, a UAV or ground vehicle can travel over the agricultural surface after/behind the agricultural spraying machine and sense a variety of characteristics (e.g., performance or quality of spray application) and can generate a variety of control signals to control sprayer system <NUM>. In yet another example, a UAV or ground vehicle can include a dispenser that applies the substance to the agricultural surface. For instance, a UAV can fly over the surface behind sprayer system <NUM>, and upon detection of an insufficient application of the substance, apply additional substance to a particular crop plant or area.

Vehicle(s) <NUM> can include a communication system <NUM> configured to communicate with communication system <NUM> or with, for example, remote computing system(s) <NUM> over network <NUM>, one or more processors or servers <NUM>, a data store <NUM>, and can include other items <NUM> as well. Additionally, as illustrated, other vehicle(s) <NUM> can include control system <NUM>, sensor(s) <NUM> and controllable subsystem(s) <NUM>.

<FIG> is a block diagram illustrating one example of spray control system <NUM> in more detail. Spray control system <NUM> can include sprayer operation system <NUM>, sprayer performance system <NUM>, and it can include other items <NUM> as well. Sprayer operation system <NUM> generates control signals to control the operation of components of the agricultural sprayer (e.g., controllable subsystem(s) <NUM>). Sprayer performance system <NUM> determines the spray performance of the agricultural sprayer and generates control signals to control the operation of components of the agricultural sprayer (e.g., controllable subsystem(s) <NUM>).

Spray control system <NUM> controls the operation and performance of spraying subsystem <NUM>. For example, spray control system <NUM> can generate control signals for the control of spray nozzle(s) <NUM> to change an operation, spray characteristic, position or orientation of spray nozzle(s) <NUM>. In another example, system <NUM> can generate control signals to control one or more controllable valves disposed along the fluid conduit and/or associated with the one or more of spray nozzle(s) <NUM>, for instance, operably controlling the valve(s) between an open or closed position, controlling the flow of substance through the valves, etc. In another example, system <NUM> can generate control signals for the control of pump(s) <NUM> to change an operating speed or pressure of pump(s) <NUM>. The control signals generated by sprayer control system <NUM> can be based on a variety of sensor signals generated by sensor(s) <NUM> (e.g., sensed position of corn silks on a corn plant sensed by crop characteristic sensor(s) <NUM>, sensed presence of pests such as position, quantity, type of pests, etc. by pest detection sensor(s) <NUM>, etc.). The control signals generated by system <NUM> can also be based on various other sources, for example, data retrieved from a data store such as data store <NUM>.

<FIG> is a block diagram illustrating one example of sprayer operation system <NUM> in more detail. Sprayer operation system <NUM> includes agricultural surface characteristics detection system <NUM>, data capture logic <NUM>, agricultural surface characteristics prediction system <NUM>, position logic <NUM>, alert/notification system <NUM>, processor(s)/controller(s) <NUM>, communication system <NUM>, action signal generator <NUM>, model generator <NUM>, and can include other items <NUM> as well. Agricultural surface characteristics determination system can include plant component position logic <NUM>, pest detection logic <NUM> and it can include other items <NUM> as well. Data capture logic <NUM> can include sensor accessing logic <NUM>, data store accessing logic <NUM> and it can include other items <NUM> as well. Agricultural surface characteristics prediction system <NUM> can include plant component position prediction logic <NUM>, pest presence prediction logic <NUM> and it can include other items <NUM> as well.

In operation, sprayer operation system <NUM> determines and/or predicts characteristics relative to the agricultural surface over which the agricultural spray system operates. For example, sprayer operation system <NUM> can determine and/or predict the position of components of plants on the agricultural surface (e.g., position of silks <NUM> on corn plants <NUM>) or determine and/or predict characteristics relative to the presence of pests on the agricultural surface (e.g., position, quantity, type of pest, etc.). Upon determining and/or predicting the characteristics relative to the agricultural surface, action signals are generated and used to, for instance, control the operation of agricultural sprayer system <NUM> or to generate displays, recommendations, and/or other indications (e.g., alerts).

Data capture logic <NUM> captures or obtains data that can be used by other items on sprayer operation system <NUM>. Data capture logic <NUM> can include sensor accessing logic <NUM>, data store accessing logic <NUM>, and other logic <NUM>. Sensor accessing logic <NUM> can be used by agricultural surface characteristics determination system <NUM> and/or agricultural surface characteristics prediction system <NUM> to obtain sensor data (or values indicative of the sensed variables) provided from sensor(s) <NUM> that can be used to determine and/or predict agricultural surface characteristics. In one example, sensor accessing logic <NUM> receives sensor signals indicative of a position of a component of a plant on a crop field (e.g., position of a corn silk on a corn plant), from sensors <NUM>. In another example, sensor accessing logic <NUM> receives sensor signals indicative of a presence of pests on a crop field (e.g., position, quantity, type of pest, etc.), from sensors <NUM>.

Additionally, data store accessing logic <NUM> can be used to obtain data previously stored on a data store (e.g., one or more of data stores <NUM>, <NUM>, <NUM>) and/or data previously stored at remote computing system(s) <NUM>. For example, this can include data that was sensed and stored during a previous agricultural operation, or otherwise sensed and stored previously. This data can include crop characteristic data (e.g., position of components on crop plants), pest data (e.g., presence, position, quantity, type of pest, etc.), dimensional and position data (e.g., dimensions of various components of the agricultural sprayer, geographical position of the agricultural sprayer, etc.), substance operation data (e.g., operating pressure, type of substance), spray pattern data (e.g., spray coverage), weather data (e.g., wind/speed direction), terrain data (e.g., topographical information), as well as various other types of data.

Upon receiving sensor data or indications of the sensed characteristics, agricultural surface characteristics detection system <NUM> can determine characteristics of the agricultural surface. This can include plant component position logic <NUM> determining the position of components of crop plants. For instance, logic <NUM> can determine the position of corn silks on a corn plant. This can also include pest detection logic <NUM> determining characteristics relative to pests on the agricultural surface, such as, the presence of pests, the position of pests on the crop plant, the quantity of pests, the type of pests (e.g., Japanese beetle, corn rootworm, beetle), etc. Various other types of determinations of characteristics relative to the agricultural surface can also be made by other logic <NUM>.

Based on the determined characteristics, agricultural surface detection system <NUM> can generate various indications via alert/notification system <NUM>. This can be done, for example, by surfacing a display or other indication to operator interface(s) <NUM> for operator <NUM>. It can also be done by surfacing a display or other indication to remote computing system(s) <NUM> for remote user <NUM>. Additionally, agricultural surface detection system <NUM> can generate various control signals via action signal generator <NUM> to control various subsystems (e.g., controllable subsystem(s) <NUM>) of agricultural sprayer system <NUM>, towing vehicle <NUM>, and other vehicles <NUM>.

For instance, upon determination of the height of a corn silk on a corn plant, agricultural surface detection system <NUM> can generate a control signal to control the operation, position, orientation (e.g., tilt), etc. of the spray nozzles (e.g.,<NUM>) such that they apply a substance to the corn silks. In another example, upon determination of a characteristic relative to pests on the agricultural surface, agricultural surface detection system <NUM> can generate a control signal to control various components of spraying subsystem <NUM>. For instance, upon determination of a type of pest, system <NUM> can generate a control signal to control pump(s) <NUM> and/or substance tank(s) <NUM> to control the type of pesticide/insecticide being provided to spray nozzle(s) <NUM> or the pressure at which the substance is provided to spray nozzle(s) <NUM>. These are examples only.

As illustrated in <FIG>, sprayer operation system <NUM> includes agricultural characteristics prediction system <NUM>. Agricultural characteristics prediction system <NUM> includes plant component position prediction logic <NUM>, pest presence prediction logic <NUM>, and can include other logic <NUM> as well. Prediction system <NUM> determines likely characteristics relative to the agricultural surface over which the agricultural sprayer operates. These determinations can be based on a variety of data that be accessed in real-time or near real-time via sensor accessing logic <NUM>, or data (e.g., historical data, management data, such as hybrid or cultivar of the crop plant, user/operator input data, etc.) can be accessed in a data store via data store accessing logic <NUM>. Additionally, prediction system <NUM> can update the determinations periodically or intermittently either prior to or throughout a spraying operation. These determinations can be provided to operator <NUM> on operator interface(s) <NUM>, to remote computing system(s) <NUM>, to remote user <NUM>, to control system <NUM>, or to model generator <NUM>, as well as various other components of sprayer system <NUM>.

Plant component position prediction logic <NUM> determines the likely positions of components on crop plants on the agricultural surface. For example, plant component position prediction logic <NUM> can determine the likely position of silks on a corn plant based on the data captured by data capture logic <NUM>. Similarly, logic <NUM> can determine the likely position of silks on a corn plant based on typical/expected positions. By way of example, the silks on corn plants are often located approximately halfway up the corn stalk between leaves <NUM> and <NUM> (e.g., V12 and V13), though this can vary with specific hybrids or cultivars. In another example, pest presence prediction logic <NUM> can determine the likely characteristics relative to pest presence on the agricultural surface, such as the likely position of pests on plants, and the quantity and/or the type of pest. The position of pests on a corn plant can, for example, be predicted based on the fact that certain types of pests feed on certain types of crop, and more particularly feed on certain components of certain crops. Japanese beetles and corn rootworms, for example, tend to feed on corn silks. Thus, when the position of silks is identified the likely position of pests can be identified as well. Similarly, pest presence prediction logic <NUM> can determine the likely position and type of pests based on, for example, the type of crop growing on the agricultural surface, the growth stage of the plant, etc. Also, logic <NUM> can determine the likely quantity of pests based on a variety of factors, including, but not limited to, the quantity of crop, growing conditions, weather conditions, historical data, etc. The data used by prediction system <NUM> can be accessed at a data store (e.g., one or more of data stores <NUM>, <NUM>, <NUM>) by data store accessing logic <NUM> or it can be detected by sensors <NUM> and accessed by sensor accessing logic <NUM>.

Sprayer operation system <NUM> also includes model generator <NUM> configured to generate a model of a worksite (e.g., agricultural surface or field) to be sprayed. In one example, the model can output an indication of what the characteristics of any particular worksite are likely to be. For instance, model generator <NUM> can generate a model that provides an indication of what the likely position of silks on corn plants are going to be, or what the likely characteristics of pest presence are going to be (e.g., quantity, position on the plants, type of pest, etc.). The model can be generated based on a variety of past or present data, including, but not limited to, data relevant to growing conditions (e.g., weather, soil characteristics, etc.), historical data (e.g., previous data collected for the particular agricultural surface), management data such as hybrid or cultivar of the crop plant, etc. This data can be accessed in real-time or near real-time via sensor accessing logic <NUM>, or historical and/or management data can be accessed in a data store via data store accessing logic <NUM>. Additionally, model generator <NUM> can update the model periodically or intermittently either prior to or throughout a spraying operation. The output of the generated model (which can indicate current or likely characteristics relative to the agricultural surface) can be provided to operator <NUM> on operator interface(s) <NUM>, to remote computing system(s) <NUM>, to remote user <NUM>, and/or to control system <NUM>, as well as various other components of sprayer system <NUM>.

In a particular example, model generator <NUM> can generate a predictive model of an agricultural surface that can be used by sprayer system <NUM> and/or control system <NUM> to control the operation and/or position of various controllable subsystems <NUM>. For instance, model generator <NUM> can generate a predictive model that outputs the likely position of silks on corn plants, and based on this model output, control system <NUM> can control the operation and/or position of spray nozzle(s) <NUM>, for example, position spray nozzle(s) <NUM> at a certain position or orientation such that their spray patterns will cover the expected position of the corn silks. Similarly, control system <NUM> can position the sensors <NUM> at a certain position or orientation such that their field of view will cover (and thus sense) the expected position of the corn silks. Using corn as an example, the various leaves can interfere with sensing the position of the corn silks (e.g., the leaves cover the silks from certain viewpoints) and thus the sensors may need to view the plants at an angle. Control system <NUM> can thus position the sensors <NUM> so they have a relatively clear view of the likely position of the silks.

Sprayer operation system <NUM> can also include position logic <NUM>. Position logic <NUM> determines position information (e.g., height, orientation, distance, etc.) relative to various components of the agricultural sprayer. For instance, position logic <NUM> can determine the height of spray nozzle(s) <NUM> of sprayer system <NUM> from the agricultural surface. Similarly, position logic <NUM> can determine the distance between spray nozzle(s) <NUM> of agricultural sprayer system <NUM> and corn silks. Additionally, position logic <NUM> can determine the orientation of spray nozzle(s) <NUM> of sprayer system <NUM>. These determinations can be used by control system <NUM> to adjust the operation of agricultural sprayer system <NUM>. For example, based on the known position of a corn silk on a corn plant at a given geographic location, and a known position (e.g., height, orientation, distance, etc.) of spray nozzle(s) <NUM>, control system <NUM> can generate control signals to adjust the operation and/or position of spray nozzle(s) <NUM> such that they are configured to apply the substance to the position of the corn silk.

In one example, sprayer operation system <NUM> can include alert/notification system <NUM> to generate alerts to operator <NUM> indicative of the determined characteristics of the agricultural surface. Additionally, alerts can be communicated to remote computing system(s) <NUM> and/or remote user <NUM> via communication system <NUM>.

<FIG> is a block diagram illustrating one example of sprayer performance system <NUM> in more detail. Sprayer performance system <NUM> includes spray application determination system <NUM>, data capture logic <NUM>, position logic <NUM>, alert/notification system <NUM>, processor(s)/controller(s) <NUM>, communication system <NUM>, action signal generator <NUM>, model/map generator <NUM>, and can include other items <NUM> as well.

By way of overview, sprayer performance system <NUM> determines characteristics relative to the agricultural sprayer system's performance. For example, sprayer performance system <NUM> can determine the coverage of substance sprayed by the spray nozzles <NUM>. Additionally, sprayer performance system <NUM> can compare the determined coverage to, for example, a target/prescribed coverage. Further, performance system <NUM> can compare the difference between the performed spray application and the target/prescribed application to a spray quality threshold. Upon determining these various characteristics, action signals are generated and used to control the operation of agricultural sprayer system <NUM>, or to generate recommendations/indications, as well as various other actions. The particular items in sprayer performance system <NUM> are now described.

Data capture logic <NUM> includes sensor accessing logic <NUM>, data store accessing logic <NUM>, and other logic <NUM>. Sensor accessing logic <NUM> can be used to obtain sensor data (or values indicative of the sensed variables) provided from sensor(s) <NUM>. This data can be used to detect characteristics relative to the application of substance to the agricultural surface. In one example, sensor accessing logic <NUM> receives an indication of how well the substance covered a corn silk. This is indicated by the sensor signals generated by one or more of sensors <NUM>. The sensors can include, for example, an optical sensor that captures an image of the corn plant after the substance has been sprayed, a temperature sensor that generates an indication of spray coverage based on a temperature difference between the corn plant and the substance sprayed, or a temperature difference between the corn plant before the spraying application and after the spraying application, a moisture sensor that generates an indication of a difference between the moisture of a corn plant before the spraying application and after the spraying application. The indication can also be received as a set of electromagnetic radiation signals generated by various electromagnetic radiation sensors on agricultural sprayer system <NUM>, towing vehicle <NUM>, other vehicles <NUM> (e.g., UAV, ground vehicle, etc.), as well as other sources. These are examples only.

Additionally, data store accessing logic <NUM> can be used to obtain stored data from a data store (e.g., <NUM>, <NUM>, <NUM>) and/or data from remote computing system(s) <NUM> in order to determine characteristics relative to the application of substance to the agricultural surface.

Upon receiving the captured data, spray application determination system <NUM> can determine characteristics of the application of substance to the agricultural surface. Spray application determination system can include spray application logic <NUM>, spray quality metric logic <NUM>, spray quality threshold logic and it can include other items <NUM>.

Spray application logic <NUM> identifies the coverage of pesticide/insecticide (as well as other sprayed substances) on corn silks. Spray quality metric logic <NUM> generates various quality metrics indicative of the performance of the agricultural sprayer system. For example, logic <NUM> can generate quality metrics indicative of the coverage of pesticide/insecticide on corn silks and/or on pests, as identified by spray application logic <NUM>. Additionally, spray quality metric logic <NUM> can provide the quality metrics to model/map generator <NUM>. Generator <NUM> can correlate the quality metric values to geographic locations and generate a map indicative of a quality of the spraying operation across the field. Further, spray quality comparison logic <NUM> can compare the identified quality metrics indicative of performance to target/prescribed metrics indicative of target or prescribed performance of the agricultural sprayer system (e.g., target pesticide/insecticide coverage). A difference between the actual performance and the target/prescribed performance can be indicative of a quality of the operation. Additionally, spray quality threshold logic <NUM> can compare the difference to one or more threshold values. The threshold values can be automatically determined or manually selected (e.g., by a user or operator). The threshold values can represent, for example, an acceptable deviation from the desired quantity of pesticide/insecticide applied to the corn silks and/or pests, an acceptable deviation from the desired location of pesticide/insecticide applied to the corn silks and/or pests, among other things.

Based on the identified performance characteristics, spray application determination system <NUM> can generate various recommendations/indications for the operator <NUM> or remote user <NUM>. Alert/notification system <NUM> can generate an alert or notification to operator <NUM> by surfacing a display or other indication to operator interface(s) <NUM>. System <NUM> can also generate an alert or notification to remote user <NUM> by surfacing a display or other indication to remote computing system(s) <NUM>. Additionally, spray application determination system <NUM> can generate various control signals using action signal generator <NUM> to control various subsystems (e.g., controllable subsystem(s) <NUM>) of agricultural sprayer system <NUM>, towing vehicle <NUM>, and other vehicles <NUM>.

For instance, upon determination that the quality of substance application by the agricultural sprayer system does not meet a quality threshold, spray application determination system <NUM> can generate control signals to adjust the operation of agricultural sprayer system <NUM> or to generate recommendations/indications. For example, spray application determination system <NUM> can generate a control signal to control the operation, spray characteristics, position, orientation (e.g., tilt), etc. of the spray nozzle(s) <NUM> such that they apply the substance to the corn silks more accurately. In another example, spray application determination system <NUM> can generate a control signal to control the operation of various components of spraying subsystem <NUM>. For instance, system <NUM> can generate control signals to control pump(s) <NUM> and/or substance tank(s) <NUM> to control the type of substance (e.g., pesticide, insecticide, etc.) being sprayed by spray nozzle(s) <NUM> or the pressure at which the substance is sprayed by spray nozzle(s) <NUM>.

Sprayer performance system <NUM> can also include position logic <NUM>. Position logic <NUM> determines position information (e.g., height, tilt, distance, etc.) relative to various components of agricultural sprayer system <NUM>. For instance, position logic <NUM> can determine the height of spray nozzle(s) <NUM> of agricultural sprayer system <NUM> from the field. Similarly, position logic <NUM> can determine the distance of spray nozzle(s) <NUM> from corn silks. Additionally, position logic <NUM> can determine the orientation of components spray nozzle(s) <NUM> of agricultural sprayer system <NUM>. These determinations can be used by control system <NUM> to adjust the operation of the agricultural sprayer. For example, based on the deviation from the target/prescribed performance and the identified position of spray nozzle(s) <NUM>, control system <NUM> can generate control signals to adjust the position of spray nozzle(s) <NUM> such that they are configured to eliminate or reduce the deviation and apply the substance to the corn silk and/or pests, more accurately.

In one example, sprayer performance system <NUM> can include alert/notification system <NUM> to generate alerts to operator <NUM> indicative of the determined characteristics relative to the application quality. Additionally, alerts can be communicated to remote computing system(s) <NUM> and/or remote user <NUM> by communication system <NUM>.

<FIG> are flow diagrams showing example operations of a sprayer control system <NUM> illustrated in <FIG>. The operation shown in <FIG> is one example of the operation of the system shown in <FIG> in determining characteristics relative to an agricultural surface. It is to be understood that the operation can be carried out at any time or at any point throughout an agricultural spraying operation, or even if an operation is not currently underway. Further, while the operation will be described in accordance with sprayer system <NUM>, it is to be understood that other mobile machines with a sprayer control system <NUM> can be used as well.

It is initially assumed that sprayer system <NUM> is running, as indicated by block <NUM>. For instance, operator <NUM> can provide initial machine settings that set the position, orientation, spray pattern, etc., of spray nozzle(s) <NUM>, and that also turn on control pump(s) <NUM>, set machine speed and direction, and various other machine settings. The operator can input these settings manually based upon his or her own prior experience and knowledge. The initial settings can also be made automatically by sprayer system <NUM> itself. In another example, prior operation settings (e.g., previous year settings) or estimated settings can be downloaded from a data store. Initial machine settings can be input in various other ways, including, but not by limitation, through a touch screen or other user input mechanism.

During operation of sprayer system <NUM>, sensor signals are received from sensor(s) <NUM> as indicated by block <NUM>. However, sensor signals can also be received from a variety of other sensors of other systems on mobile machines. Sensor signals can include crop characteristic(s) information, as indicated by block <NUM>. Sensor signals can also include information/characteristics relative to the detection of pests as indicated by block <NUM>. Sensor signals can include a variety of other sensor signals <NUM> as well, for example, but not limited to, position information relative to various components of the agricultural sprayer (e.g., position and orientation of boom arms, vertical spray arms, spray nozzles, etc.).

Upon receiving sensor signals, processing proceeds at block <NUM> where characteristics relative to the agricultural surface are identified or otherwise detected. In one example, sprayer operation system <NUM> can receive the sensor signals or indications of the sensor signals and can determine/detect a position of a component of a crop plant as indicated by block <NUM>. This can include, for example, determining/detecting a position of corn silks on a corn plant as indicated by block <NUM>. This can also include determining/detecting a position of other components on a variety of crop plants as indicated by block <NUM>, such as a position of leaves on a corn plant (e.g., V12 & V13).

In another example, sprayer operation system <NUM> can receive the sensor signals or indications of the sensor signals and can determine/detect characteristics relative to the presence of pests on the agricultural surface as indicated by block <NUM>. This can include, for example, determining/detecting a quantity of pests on the agricultural surface as indicated by block <NUM>. This can also include, for example, determining/detecting a position of the pests on the crop plants, as indicated by block <NUM>. This can further include, for example, determining/detecting a type of pest on the agricultural surface, as indicated by block <NUM>. Other characteristics relative to the presence of pests on the agricultural surface can also be determined/detected as indicated by block <NUM>.

In another example, sprayer operation system <NUM> can receive the sensor signals or indications of the sensor signals and can determine/detect a variety of other characteristics relative to the agricultural surface and/or sprayer as indicated by block <NUM>. For instance, it can identify a position of components of the agricultural sprayer (e.g., position of boom arms, vertical spray arms, spray nozzles, etc.).

Upon determining/detecting characteristic(s) relative to the agricultural surface, processing proceeds to block <NUM> where action signal generator <NUM> generates an action signal. In one example, action signals can be used to control a subsystem of sprayer system <NUM>, as indicated by block <NUM>, to generate a user interface display (or other indication, e.g.,, an alert), as indicated by block <NUM>, or in other ways as indicated by block <NUM>.

Control signal(s) can be used to modify or otherwise control an operating characteristic of sprayer system <NUM>. For example, a control signal can be generated and provided to controllable subsystem(s) <NUM> of sprayer system <NUM> which can include spraying subsystem <NUM>, position subsystem <NUM>, propulsion subsystem <NUM>, steering subsystem <NUM>, as well as other subsystems <NUM>, such as a valve subsystem. By way of example, a control signal can be provided to spraying subsystem <NUM> to control operation of spray nozzle(s) <NUM> (e.g., control their spray characteristics, flow of substance through and to spray nozzle(s) <NUM>, their position, orientation (tilt), etc.), control operation of pump(s) <NUM> and/or substance tank(s) <NUM> (e.g., control the pressure at which substance is provided to spray nozzle(s) <NUM>, the type of substance being provided to spray nozzle(s) <NUM>, etc.), as well as to control other components <NUM> of spraying subsystem <NUM> and/or other components of controllable subsystem(s) <NUM>, as well as various other components of sprayer system102.

A user interface display can be generated on operator interface(s) <NUM>, remote computing system(s) <NUM>, as well as other interfaces, and can indicate a variety of information. The interfaces can, for instance, include position(s) of component(s) of crop plant(s), information relative to the presence of pests (e.g., quantity, position, type of pests, etc.), recommendations as to the operation of the agricultural sprayer (e.g., output by a model generated by model generator <NUM>), as well as a variety of other information. However, other user interface displays can be generated as well.

Processing then proceeds at block <NUM> where it is determined whether the spraying operation is finished. If, at block <NUM>, it is determined that the spraying operation is not finished, processing proceeds at block <NUM> where sensor signals continue to be received.

<FIG> is one example of sprayer control system <NUM> determining likely characteristics relative to an agricultural surface. It is to be understood that the operation can be carried out at any time or at any point throughout an agricultural spraying operation, or even if an operation is not currently underway (e.g., during a pre-spraying operation). Further, while the operation will be described in accordance with sprayer system <NUM>, it is to be understood that other mobile machines with a sprayer control system <NUM> can be used as well.

Processing begins at block <NUM> where data capture logic <NUM> of sprayer control system <NUM> obtains data relating to an agricultural surface to be sprayed by agricultural sprayer system <NUM>. In one example, data capture logic <NUM> obtains data generated by sensor(s) <NUM>, as indicated by block <NUM>, data from a data store (e.g., from one or more of data stores <NUM>, <NUM>, <NUM>), as indicated by block <NUM>, and/or from other sources, as indicated by block <NUM>. The data obtained from sensor(s) <NUM> at block <NUM> can include sensor data relating to crop characteristic(s), as indicated by block <NUM>, data relating to pest detection, as indicated by block <NUM>, as well as variety of other sensor data, as indicated by block <NUM>. By way of example, data capture logic <NUM> can obtain sensor data relating to a likely position of silks on a corn plant. The data obtained from a data store at block <NUM> can include data input by a user/operator, as indicated by block <NUM>, historical data as indicated by block <NUM>, management data as indicated by block <NUM>, as well as other data <NUM>. By way of example, data capture logic <NUM> can obtain data input by a user relative to the growing conditions (e.g. weather data, etc.) and/or management data (e.g., crop cultivar or hybrid, etc.), historical data relative to the field and/or previous operations on the field, as well as a variety of other data.

Once the data is accessed at block <NUM>, processing proceeds at block <NUM> where likely characteristics of the agricultural surface to be sprayed are identified, based on the data. In one example, agricultural surface characteristics prediction system <NUM> receives sensor data and determines likely positions of components of crop plants on the agricultural surface, as indicated by block <NUM>, likely characteristics relative to pest presence, as indicated by block <NUM>, as well as other likely characteristics, as indicated by block <NUM>. Determining the likely positions of components of crop plants at <NUM> can include, for example, determining the likely positions of corn silks, as indicated by block <NUM>, as well as the likely positions of other components of various crop plants, as indicated by block <NUM>. Determining the likely characteristics relative to pest presence on the agricultural surface at block <NUM> can include, for example, determining the likely quantity of pests likely to be present, as indicated by block <NUM>, determining the likely position of pests on the agricultural surface (e.g., on the corn silks, in the crop canopy, etc.), as indicated by block <NUM>, determining the type of pest likely to be present, as indicated by block <NUM>, as well as various other characteristics relative to pest presence, as indicated by block <NUM>.

Once a determination as to the likely characteristics of the agricultural surface has been made at block <NUM>, processing proceeds at block <NUM> where action signal generator <NUM> generates an action signal. In one example, action signals can be used to control a subsystem of sprayer system <NUM>, as indicated by block <NUM>, to generate a user interface display (or other indication, e.g., an alert), as indicated by block <NUM>, or in other ways as indicated by block <NUM>. Control signal(s) can be used to modify or otherwise control an operating characteristic of sprayer system <NUM>. For example, a control signal can be generated and provided to controllable subsystem(s) <NUM> of sprayer system <NUM> which can include spraying subsystem <NUM>, position subsystem <NUM>, propulsion subsystem <NUM>, steering subsystem <NUM>, as well as other subsystems <NUM>.

By way of example, a control signal can be provided to spraying subsystem <NUM> to control, for instance, operation and/or position of spray nozzle(s) <NUM>, control operation of pump(s) <NUM> and/or substance tank(s) <NUM> (e.g., control the pressure and/or flowrate at which substance is provided to spray nozzle(s) <NUM>, the type of substance being provided to spray nozzle(s) <NUM>, etc.). Control signals can also be generated to control other components <NUM> of spraying subsystem <NUM> and/or other components of controllable subsystem(s) <NUM>, as well as various other components of sprayer system <NUM>, for instance a controllable valve subsystem.

Processing then proceeds at block <NUM> where it is determined whether additional data has been received/accessed. If, at block <NUM>, it is determined that additional data has been received/accessed, processing proceeds at block <NUM> where agricultural surface characteristics prediction system <NUM> continues to identify likely characteristics of the agricultural surface to be sprayed.

<FIG> is one example of identifying characteristics relative to a spray performance of sprayer system <NUM>. It is to be understood that the operation can be carried out at any time or at any point throughout a spraying operation, or even if an operation is not currently underway (e.g., in a post-spraying operation). Further, while the operation will be described in accordance with sprayer system <NUM>, it is to be understood that other mobile machines with a sprayer control system <NUM> can be used as well.

It is initially assumed that sprayer system <NUM> is running, as indicated by block <NUM>. This can be done in a variety of ways. For instance, operator <NUM> can provide initial machine settings based on a worksite operation. The operator can input these setting based upon his or her own prior experience and knowledge. The settings can be made manually, such as through mechanical or other input mechanisms, or they can be made automatically by sprayer system <NUM> itself, or they can be input a different way, such as through a touch screen or other user input mechanism.

During operation of sprayer system <NUM>, sensor signals are received from sensor(s) <NUM> as indicated by block <NUM>. However, sensor signals can also be received from a variety of other sensors of other systems on mobile machines. Sensor signals can include signals indicative of spray characteristics (e.g., from spray pattern sensors <NUM>), as indicated by block <NUM>, signals indicative of substance operation (e.g., from substance operation sensors <NUM>), as indicated by block <NUM>, signals indicative of positions of various components of sprayer system <NUM> (e.g., from position sensors <NUM>), as indicated by block <NUM>, as well as various other signals indicative of various other sensed variables, as indicated by block <NUM>.

Based on the sensor signals, spray performance system <NUM> identifies characteristics relative to spray performance. In one example, spray performance system <NUM> can determine coverage of spray, as indicated by block <NUM>. This can include determining whether the substance sprayed covered the desired target. For instance, system <NUM> can determine whether the pesticide/insecticide covered corn silks on a corn plant, whether the pesticide/insecticide covered the position of pests on the agricultural surface, etc. Determining the coverage can include determining a desired position of the spray application (e.g., did the spray hit the desired target location), and/or determining a desired quantity of the spray application (e.g., is there enough spray on the desired target location). Spray performance system <NUM> can determine various other characteristics relative to a spray performance, as indicated by block <NUM>. This can include, for instance, other characteristics relative to spray pattern, such as spray angle, spray impact, droplet size, etc. This can also include determining whether the pressure at which the spray is provided is adequate, whether the type of substance being provided is correct, as well as other determinations.

Based on characteristics of spray performance, action signal generator <NUM> generates an action signal. This is indicated by block <NUM>. In one example, an action signal can be used to control a subsystem of sprayer system <NUM>, as indicated by block <NUM>, to generate a user interface display (or other indication, such as an alert), as indicated by block <NUM>, or in other ways as indicated by block <NUM>.

Control signals can also be used to modify or otherwise control an operating characteristic of sprayer system <NUM>. For example, a control signal can be generated and provided to spraying subsystem <NUM> to control operation and/or position of spray nozzle(s) <NUM>, control operation of pump(s) <NUM> and/or substance tank(s) <NUM>, as well as other components <NUM> of spraying subsystem <NUM>, such as a valve subsystem. Control signals can be provided to other components of controllable subsystem(s) <NUM>, as well as various other components of sprayer system <NUM>.

Additionally, control signals can be generated to control one or more other vehicles <NUM>. For example, control signals can be provided to control vehicle <NUM> to follow behind sprayer system <NUM> and supplement the spraying application to compensate for any shortcomings in the spray performance (e.g., apply additional spray to crop plants, pests, etc.).

Also, in one example, upon determining characteristics relative to spray performance, processing can proceed to block <NUM> where the determined performance is compared to a target/prescribed performance. The target/prescribed performance can be indicative of a desired performance of sprayer system <NUM> as set by a user/operator, as set automatically by sprayer system <NUM> (e.g., by control system <NUM>), or that can be set in other ways.

Processing then proceeds at block <NUM> where a difference between the target/prescribed performance and the actual performance is determined. This can include identifying the difference for various performance metrics. This can also include model generator <NUM> correlating the metric values to geographic locations to generate a variety of performance models (e.g., maps). As one example, the map may be a target/prescribed performance map, an actual performance map, a difference map, etc..

Upon determining the difference, processing proceeds at block <NUM> where the difference in performance is compared to a performance/quality threshold. The threshold can comprise a variety of threshold values. For instance, the threshold can be a spray coverage threshold indicative of an acceptable level of coverage. If at block <NUM> it is determined that the spray coverage is within the threshold range (e.g., acceptable levels) processing continues at block <NUM>. If at block <NUM> it is determined that the spray coverage is not within the threshold range, processing continues at block <NUM> where action signals are generated by action signal generator <NUM>.

At block <NUM> it is determined if the operation is finished. If it is determined that the operation is not finished, processing continues at block <NUM> where the sprayer continues to run.

The present discussion has mentioned processors or servers. In one embodiment, the processors or servers include computer processors with associated memory and timing circuitry, not separately shown. They are functional parts of the systems or devices to which they belong and are activated by and facilitate the functionality of the other components or items in those systems.

<FIG> is a block diagram of sprayer system <NUM>, shown in <FIG>, except that it communicates with elements in a remote server architecture <NUM>. In an example embodiment, remote server architecture <NUM> can provide computation, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system that delivers the services. In various embodiments, remote servers can deliver the services over a wide area network, such as the internet, using appropriate protocols. For instance, remote servers can deliver applications over a wide area network and they can be accessed through a web browser or any other computing component. Software or components shown in <FIG> as well as the corresponding data, can be stored on servers at a remote location. The computing resources in a remote server environment can be consolidated at a remote data center location or they can be dispersed. Remote server infrastructures can deliver services through shared data centers, even though they appear as a single point of access for the user. Thus, the components and functions described herein can be provided from a remote server at a remote location using a remote server architecture. Alternatively, they can be provided from a conventional server, or they can be installed on client devices directly, or in other ways.

In the embodiment shown in <FIG>, some items are similar to those shown in <FIG> and they are similarly numbered. <FIG> specifically shows that remote computing system <NUM> can be located at a remote server location <NUM>. Therefore, sprayer system <NUM>, towing vehicle <NUM>, other vehicles <NUM> (e.g., UAV, mobile machines, ground vehicles, etc.), and operator <NUM> accesses those systems through remote server location <NUM>.

<FIG> also depicts another embodiment of a remote server architecture. <FIG> shows that it is also contemplated that some elements of <FIG> are disposed at remote server location <NUM> while others are not. By way of example, data store <NUM>, which can comprise a third-party system, can be disposed at a location separate from location <NUM> and accessed through the remote server at location <NUM>. Regardless of where they are located, they can be accessed directly by sprayer system <NUM>, towing vehicle <NUM>, other vehicles <NUM> and/or operator <NUM>, as well as by remote user <NUM> (via user device <NUM>) through a network (either a wide area network or a local area network), they can be hosted at a remote site by a service, or they can be provided as a service, or accessed by a connection service that resides in a remote location. Also, the data can be stored in substantially any location and intermittently accessed by, or forwarded to, interested parties. For instance, physical carriers can be used instead of, or in addition to, electromagnetic wave carriers. In such an embodiment, where cell coverage is poor or nonexistent, another mobile machine (such as a fuel truck) can have an automated information collection system. As the sprayer comes close to the fuel truck for fueling, the system automatically collects the information from the sprayer using any type of ad-hoc wireless connection. The collected information can then be forwarded to the main network as the fuel truck reaches a location where there is cellular coverage (or other wireless coverage). For instance, the fuel truck may enter a covered location when traveling to fuel other machines or when at a main fuel storage location. All of these architectures are contemplated herein. Further, the information can be stored on the sprayer until the sprayer enters a covered location. The sprayer, itself, can then send the information to the main network.

It will also be noted that the elements of <FIG>, or portions of them, can be disposed on a wide variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smart phones, multimedia players, personal digital assistants, etc..

<FIG> is a simplified block diagram of one illustrative embodiment of a handheld or mobile computing device that can be used as a user's or client's handheld device <NUM>, in which the present system (or parts of it) can be deployed. For instance, a mobile device can be deployed in the operator compartment of sprayer system <NUM> for use in generating, processing, or displaying the stool width and position data. <FIG> are examples of handheld or mobile devices.

<FIG> provides a general block diagram of the components of a client device <NUM> that can run some components shown in <FIG>, that interacts with them, or both. In the device <NUM>, a communications link <NUM> is provided that allows the handheld device to communicate with other computing devices and under some embodiments provides a channel for receiving information automatically, such as by scanning. Examples of communications link <NUM> include allowing communication though one or more communication protocols, such as wireless services used to provide cellular access to a network, as well as protocols that provide local wireless connections to networks.

Under other embodiments, applications can be received on a removable Secure Digital (SD) card that is connected to an interface <NUM>. Interface <NUM> and communication links <NUM> communicate with a processor <NUM> (which can also embody processor <NUM> from <FIG>) along a bus <NUM> that is also connected to memory <NUM> and input/output (I/O) components <NUM>, as well as clock <NUM> and location system <NUM>.

I/O components <NUM>, in one embodiment, are provided to facilitate input and output operations. I/O components <NUM> for various embodiments of the device <NUM> can include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors and output components such as a display device, a speaker, and or a printer port. Other I/O components <NUM> can be used as well.

Memory <NUM> stores operating system <NUM>, network settings <NUM>, applications <NUM>, application configuration settings <NUM>, data store <NUM>, communication drivers <NUM>, and communication configuration settings <NUM>. Memory <NUM> can include all types of tangible volatile and non-volatile computer-readable memory devices. It can also include computer storage media (described below). Memory <NUM> stores computer readable instructions that, when executed by processor <NUM>, cause the processor to perform computer-implemented steps or functions according to the instructions. Processor <NUM> can be activated by other components to facilitate their functionality as well.

<FIG> shows one embodiment in which device <NUM> is a tablet computer <NUM>. In <FIG>, computer <NUM> is shown with user interface display screen <NUM>. Screen <NUM> can be a touch screen or a pen-enabled interface that receives inputs from a pen or stylus. It can also use an on-screen virtual keyboard. Of course, it might also be attached to a keyboard or other user input device through a suitable attachment mechanism, such as a wireless link or USB port, for instance. Computer <NUM> can also illustratively receive voice inputs as well.

<FIG> is similar to <FIG> except that the phone is a smart phone <NUM>.

<FIG> is one embodiment of a computing environment in which elements of <FIG>, or parts of it, (for example) can be deployed. With reference to <FIG>, an exemplary system for implementing some embodiments includes a general-purpose computing device in the form of a computer <NUM>. Components of computer <NUM> may include, but are not limited to, a processing unit <NUM> (which can comprise processor <NUM>), a system memory <NUM>, and a system bus <NUM> that couples various system components including the system memory to the processing unit <NUM>. The system bus <NUM> may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. Memory and programs described with respect to <FIG> can be deployed in corresponding portions of <FIG>.

For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (e.g.,, ASICs), Application-specific Standard Products (e.g.,, ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc..

These and other input devices are often connected to the processing unit <NUM> through a user input interface <NUM> that is coupled to the system bus but may be connected by other interface and bus structures.

The computer <NUM> is operated in a networked environment using logical connections (such as a local area network - LAN, or wide area network WAN) to one or more remote computers, such as a remote computer <NUM>.

Claim 1:
An agricultural sprayer (<NUM>), comprising:
a spraying system (<NUM>) comprising a number of actuatable spray nozzles (<NUM>), the spraying system (<NUM>) configured to spray a substance on an agricultural surface;
a crop characteristic sensor (<NUM>) configured to sense a crop characteristic of a crop on the agricultural surface and to generate a crop characteristic signal indicative of the crop characteristic;
a spray control system (<NUM>) configured to identify a position of a component of a crop plant based on the crop characteristic sensor signal; and
an action signal generator (<NUM>) configured to generate an action signal based on the identified position of the component of the crop plant,
characterized in that the spray control system (<NUM>) is configured to identify a position of corn silks on a corn plant,
that the action signal generator (<NUM>) is configured to generate a first control signal that controls a position of at least one of the actuatable spray nozzles to spray the substance onto the identified position of the corn silk of the corn plant;
that the spray control system (<NUM>) further comprises a sprayer performance system (<NUM>) configured to receive, from a spray pattern sensor (<NUM>), a spray pattern sensor signal indicative of a coverage of the substance sprayed onto the identified position of the corn silks and generate a performance metric based on the coverage of the substance sprayed onto the identified position of the corn silks, and
that the action signal generator (<NUM>) is configured to generate a second control signal that adjusts the position of at least one of the actuatable spray nozzles (<NUM>) based on the coverage.