A boom sprayer includes any number of components to treat plants as the boom sprayer travels through a plant field. The components take actions to treat plants or facilitate treating plants. The boom sprayer includes any number of sensors to measure the state of the boom sprayer as the boom sprayer treats plants. The boom sprayer includes a control system to generate actions for the components to treat plants in the field. The control system includes an agent executing a model that functions to improve the performance of the boom sprayer treating plants. Performance improvement can be measured by the sensors of the boom sprayer. The model is an artificial neural network that receives measurements as inputs and generates actions that improve performance as outputs. The artificial neural network is trained using actor-critic reinforcement learning techniques.

Implementations set forth herein relate to using fiducial markings on one or more localized portions of an agricultural apparatus in order to generate local and regional data that can be correlated for planning and executing agricultural maintenance. An array of fiducial markings can be disposed onto plastic mulch that surrounds individual crops, in order that each fiducial marking of the array can operate as a signature for each individual crop. Crop data, such as health and yield, corresponding to a particular crop can then be stored in association with a corresponding fiducial marking, thereby allowing the certain data for the particular crop to be tracked and analyzed. Furthermore, autonomous agricultural devices can rely on the crop data, over other sources of data, such as GPS satellites, thereby allowing the autonomous agricultural devices to be more reliable.

Described herein are implements and applicators for placement of fluid applications with respect to agricultural plants of agricultural fields. In one embodiment, a fluid applicator for applying fluid to plants in rows in a field includes a frame, at least one applicator arm disposed in a rhizosphere of plants during fluid flow through the applicator, and a fluid conduit connected to the frame and disposed in the row between plants to deliver fluid to the row between plants.

A system for an agricultural sprayer includes a boom assembly operably coupled with a chassis. A steering system is operably coupled with the chassis and includes a steering sensor. The system also includes one or more imaging devices and one or more nozzle assemblies. A computing system is operably coupled with the one or more imaging devices and the one or more nozzle assemblies. The computing system is configured to receive data related to a first imaged portion of an agricultural field from the one or more imaging devices; identify a target within the first imaged portion of the agricultural field; receive data related to an inputted steering command from the steering system; and determine a target offset of the target relative to the sprayer path and a boom offset of the assembly relative to the sprayer path.

Sprayer apparatus for use with an elongate boom may be configured to spray a liquid onto foliage on a ground surface. The sprayer apparatus may include a spray boom, a spray hood coupled to the spray boom, an extension member coupled to the spray boom, and a mounting apparatus coupled to the extension member. The mounting apparatus may be couplable to the elongate boom to support the spray boom and the spray hood above the ground surface.

Implementations set forth herein relate to using fiducial markings on one or more localized portions of an agricultural apparatus in order to generate local and regional data that can be correlated for planning and executing agricultural maintenance. An array of fiducial markings can be disposed onto plastic mulch that surrounds individual crops, in order that each fiducial marking of the array can operate as a signature for each individual crop. Crop data, such as health and yield, corresponding to a particular crop can then be stored in association with a corresponding fiducial marking, thereby allowing the certain data for the particular crop to be tracked and analyzed. Furthermore, autonomous agricultural devices can rely on the crop data, over other sources of data, such as GPS satellites, thereby allowing the autonomous agricultural devices to be more reliable.

A vehicle includes a chassis, ground-engaging elements configured to support the chassis, support assemblies supporting the chassis on the ground-engaging elements, adjustable axles configured to change a lateral distance from the chassis to each of the support assemblies, and a controller configured to move the chassis laterally along the axles without changing a track width between ground-engaging elements on opposing sides of the chassis. Disclosed methods may be used to remove and install application systems on the vehicle.

A system includes a first nozzle assembly positioned along a boom assembly. The first nozzle assembly includes a first valve operably coupled with a first nozzle. A first imaging device is associated with the first nozzle assembly. A second nozzle assembly is positioned along the boom assembly and includes a second valve operably coupled with a second nozzle. A second imaging device is associated with the second nozzle assembly. A computing system is operably coupled with the first nozzle assembly, the first imaging device, the second nozzle assembly, and the second imaging device. The computing system is configured to receive data from the first imaging device, identify a first reference point within the data provided by the first imaging device, receive data from the second imaging device, identify a second reference point within the data provided by the second imaging device, and determine a boom deflection model.

Described herein are implements and applicators for placement of fluid applications with respect to agricultural plants of agricultural fields. In one embodiment, a fluid applicator for applying fluids to plants in rows in a field includes a frame, a coulter connected to the frame and disposed to open a trench between the rows of plants, and at least one application member connected to the frame or to the coulter and disposed to apply fluid to a rhizosphere of the plants.

The present invention relates to an aerial vehicle (10). aerial vehicle comprises a liquid chemical tank (20), at least one liquid spray unit (30), at least one actuator (40), a plurality of sensors (50), and a processing unit (60). The liquid chemical tank is configured to hold a liquid chemical. The at least one liquid spray unit is configured to spray the liquid chemical. The at least one actuator is configured to operate the at least one liquid spray unit. At least one sensor (51) of the plurality of sensors is configured to measure a speed of the aerial vehicle relative to the ground. At least one sensor (52) of the plurality of sensors is a light detection and ranging (LIDAR) sensor configured to measure the direction and distance of airborne particles relative to the aerial vehicle with respect to a fore-aft axis of the aerial vehicle. The processing unit is configured to determine an air movement direction and distance relative to a projection of the fore-aft axis onto the ground and determine an air movement speed relative to the ground. The determination comprises utilisation of the speed of the aerial vehicle, the direction and distance of airborne particles relative to the aerial vehicle with respect to the fore-aft axis of the aerial vehicle and the speed of airborne particles relative to the aerial vehicle. The processing unit is configured to control at least one flying operation of the aerial vehicle and/or control the at least one actuator. Determination of at least one instruction for the control of the at least one flying operation of the aerial vehicle and/or determination of at least one instruction for the control the at least one actuator comprises utilisation of the determined air movement direction and distance relative to the projection of the fore-aft axis onto the ground and the determined air movement speed relative to the ground.