Evaluating peformance of an autonomous treatment system in an agricultrual environment

Abstract

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 system uses a pump in combination with a fluid regulator to obtain and disperse fluid from the fluid tanks. The fluid regulator includes a fluid input port, a fluid output port and a fluid control valve. A first tube fluidly coupled from the fluid pump to the fluid input port. The system includes a moveable treatment head having one or more spraying tips, including a first spraying tip. A second tube is fluidly coupled from the fluid output port to the moveable treatment head. A system includes a controller configured to provide to the fluid regulator to open and close the fluid control valve to release an amount of the first fluid.

What is claimed is: 
     
         1 . A method comprising:
 obtaining a first group of one or more images of a plurality of agricultural objects;   identifying a target agricultural object for treatment for one of the plurality of agricultural objects;   emitting a liquid projectile from one or more emitters at a surface of the target agricultural object;   obtaining a second group of one or more images of the emitted liquid projectile; and   based on the obtained second group of one or more images, determining a spray impact of the emitted liquid projectile.   
     
     
         2 . The method of  claim 1 , wherein determining a spray impact comprises:
 evaluating pixels of the one or more images to determine a spray outcome or spot outcome on a surface of the target agricultural object.   
     
     
         3 . The method of  claim 1 , wherein determining a spray impact comprises:
 evaluating pixels of the one or more images to determine a spray outcome on a surface of a ground area about the target agricultural object.   
     
     
         4 . The method of  claim 1 , further comprising:
 determining a color change in pixels of a first image as compared to a second image.   
     
     
         5 . The method of  claim 1 , further comprising:
 indexing that the agricultural has been treated based on the confirmation of a spray impact on the target agricultural object.   
     
     
         6 . The method of  claim 1 , further comprising:
 determining an emission pattern of the emitted liquid projectile; and   indexing the determined emission pattern in association with the target agricultural object.   
     
     
         7 . The method of  claim 1 , further comprising:
 determining a treatment pattern of the emitted liquid projectile; and   indexing the determined treatment pattern in association with the target agricultural object.   
     
     
         8 . The method of  claim 1 , further comprising:
 determining a line of the spray projectile using line fitment of pixels in the one or more images.   
     
     
         9 . The method of  claim 1 , further comprising:
 determining a predicted spray path of the emitted liquid projectile based on a group of pixels in the one or more images.   
     
     
         10 . The method of  claim 1 , wherein the spray impact comprises a splat area, a splat size and location, a splash area or a combination thereof. 
     
     
         11 . The method of  claim 1 , wherein determining a spray impact comprises:
 determining whether the liquid projectile has intercepted the target agricultural object.   
     
     
         12 . The method of  claim 11 , further comprising:
 indexing that the target agricultural has been treated based on a confirmation that the liquid projectile intercepted the target agricultural object.   
     
     
         13 . An agricultural object treatment system, comprising:
 one or more emitters;   one or more payload sources;   one or more sensors for obtaining image data;   a processor, responsive to executing instructions, which is configured to perform the operations of:   identify a target agricultural objects for treatment;   select a first emitter to apply a liquid-based treatment to the target agricultural object;   use the first emitter to apply the liquid-based treatment, obtained from the one or more payload sources, at the target agricultural object;   obtaining a first group of one or more images of the liquid-based treatment; and   based on the obtained first group of one or more images, determining a spray impact of the liquid-based treatment.   
     
     
         14 . The system of  claim 13 , wherein determining a spray impact comprises:
 evaluating pixels of the one or more images to determine a spray outcome or spot outcome on a surface of the target agricultural object.   
     
     
         15 . The system of  claim 13 , wherein determining a spray impact comprises:
 evaluating pixels of the one or more images to determine a spray outcome on a surface of a ground area about the target agricultural object.   
     
     
         16 . The system of  claim 13 , further comprising the operations of:
 determining a color change in pixels of a first image as compared to a second image.   
     
     
         17 . The system of  claim 13 , further comprising:
 indexing that the agricultural has been treated based on the confirmation of a spray impact on the target agricultural object.   
     
     
         18 . The system of  claim 13 , further comprising the operations of:
 determining an emission pattern of the liquid-based treatment; and   indexing the determined emission pattern in association with the target agricultural object.   
     
     
         19 . The system of  claim 13 , further comprising the operations of:
 determining a treatment pattern of the liquid-based treatment; and   indexing the determined treatment pattern in association with the target agricultural object.   
     
     
         20 . The system of  claim 13 , further comprising the operations of:
 determining a line path of the liquid-based treatment using line fitment of pixels in the one or more images.