Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to an agricultural observation and treatment system and method of operation. The agricultural treatment system may determine a first real-world geo-spatial location of the treatment system. The system can receive captured images depicting real-world agricultural objects of a geographic scene. The system can associate captured images with the determined geo-spatial location of the treatment system. The treatment system can identify, from a group of mapped and indexed images, images having a second real-word geo-spatial location that is proximate with the first real-world geo-spatial location. The treatment system can compare at least a portion of the identified images with at least a portion of the captured images. The treatment system can determine a target object and emit a fluid projectile at the target object using a treatment device.

Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to an agricultural observation and treatment system and method of operation. The agricultural treatment system may determine a first real-world geo-spatial location of the treatment system. The system can receive captured images depicting real-world agricultural objects of a geographic scene. The system can associate captured images with the determined geo-spatial location of the treatment system. The treatment system can identify, from a group of mapped and indexed images, images having a second real-word geo-spatial location that is proximate with the first real-world geo-spatial location. The treatment system can compare at least a portion of the identified images with at least a portion of the captured images. The treatment system can determine a target object and emit a fluid projectile at the target object using a treatment device.

A farming machine includes one or more image sensors for capturing an image as the farming machine moves through the field. A control system accesses the image(s) and creates a labelled three-dimensional point cloud representing the field. The control system identifies and treats plants based on the labelled point cloud. To do so, the control system applies pre-processing functions to the labelled point cloud to determine characteristics of the field and/or modify labels in the point cloud. Point clusters in the point cloud are identified as plants, crops, weeds, ground, etc., using the determined characteristics and modified labels. The control system derives feature values for the plants based on the determined characteristics and labels. If the feature value indicates that the plant should be treated, the farming machine actuates a treatment mechanism to treat the plant.

Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to an agricultural observation and treatment system and method of operation. The agricultural treatment system uses a treatment unit for spraying fluid at agricultural objects. The treatment unit is configured with a treatment head assembly that includes a moveable treatment head with one or more spraying tips. A first and second motor assembly are operated by the treatment unit to control the movement of the treatment head. The first motor assembly includes a first motor rotatable in a first rotational axis. A first linkage assembly is connected to the first motor and the treatment head assembly. The first linkage assembly is rotatable by the first motor. The second linkage assembly is rotatable by the second motor.

Systems and methods for treating a plant in a geographic area are disclosed. In one aspect, an agricultural treatment system can include a vehicle having a body and one or more legs operably connected to the body. The vehicle can also include an engine control unit configured to control motion of the vehicle. The system can include one or more image capture devices including a camera configured to capture images of a ground scene or terrain. The system can include an on-board computing system configured to identify features of the images of the ground scene including a target plant. The system can include a treatment unit configured to target and emit a laser beam on at least a portion of a plant located on the terrain.

An agricultural sprayer includes a spray boom supported by a frame, a spraying system comprising a set of spray nozzles spaced along the spray boom, and a control system configured to control the spraying system to spray a liquid based on a target application to an agricultural field, generate a spray performance metric indicative of performance of the spraying system relative to the target application, and generate a control signal to control the agricultural sprayer based on the spray performance metric.

An agricultural applicator, that applies material to an agricultural field, includes an on-board, real-time image sensor that senses targets for the material to be applied. A controller controls applicators, such as nozzles or other applicators, to apply the material to the sensed targets.

A product system for an agricultural sprayer can include a product tank configured to store a first volume of an agricultural product. A second volume of the agricultural product can be positioned within a flow assembly after the fill mode. A reclaim system can be configured to provide the agricultural product within the flow assembly to the product tank. A computing system can be communicatively coupled with the reclaim system and configured to determine an open volume of the product tank based on data captured by the tank sensor and activate a reclaim mode of the reclaim system to move the second volume of the agricultural product from the flow assembly to the product tank when the open volume can be greater than the second volume of the agricultural product.

Folding spray implements and agricultural work vehicle equipped with folding spray implements are provided. In embodiments, the folding spray implement includes a centerframe assembly, boom assemblies mounted to opposing sides of the centerframe assembly, and an actuation system coupled to the centerframe and boom assemblies. The boom assemblies include, in turn, inner wings pivotally joined to the centerframe assembly for rotation about frame-to-wing fold joints, as well as outer wings pivotally joined to the inner wings for rotation about wing-to-wing fold joints. The actuation system selectively transitions the folding spray implement: (i) from a stowed position in which axes of wing-to-wing fold joints extend principally in horizontal directions; (ii) through an intermediate unfolded position in which the axes of the wing-to-wing fold joints extend principally in vertical directions; and (iii) to a deployed position in which the axes of the wing-to-wing fold joints extend principally in horizontal directions.

A method includes: at an autonomous vehicle and during a first operating period, capturing a first set of images of a plant; calculating a location of the plant based on the first set of images; extracting an initial value of a plant metric of the plant based on the first set of images; predicting a predicted value of the plant metric of the plant at a time based on the initial value of the plant metric of the plant and a set of global condition data. The method also includes, at the autonomous vehicle and during a second operating period concurrent with the time: capturing a second set of images of the plant; identifying the plant based on the second set of images and the location of the plant; and executing an agricultural operation on the plant based on the predicted value of the plant metric.