Spray system, kit, vehicle and method of use

Abstract

A kit for a vehicle can include pulse width modulated solenoids configured to selectively open and close and vary the flow rate of individual nozzle assemblies when installed in fluid communication with the nozzle assemblies; one or more wirelessly controllable solenoid controllers; a wiring harness for electrically connecting the pulse width modulated solenoids to the controlled s); a wirelessly communicating GPS antenna system; a laser radar sensing system that can wirelessly communicate; associated wiring and mounts for connecting the kit with the vehicle; and a mobile device configured to wirelessly cause the one or more controllers to open and close and vary the flow rate of individual nozzle assemblies based on sensed data and / or recorded data in view of user selected criteria.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Patent Application Serial No. 16 / 274,833, filed February 13, 2019, entitled Kits, Systems, and Methods for Sprayers, by inventors Steven R. Booher, Gary A. Vandenbark, and Mike Hilligoss, and is incorporated herein by reference and is a continuation-in-part of that U.S. Patent Application, which was published August 15, 2019, as US-2019-0246557-A1 (referred to herein as the “'833 Application”). This application also claims priority to U.S. Provisional Patent Application Serial No. 62 / 630,139 (hereinafter referred to as the “'139 application”), filed February 13, 2018, entitled Kits, Systems, and Methods for Sprayers, filed by inventors R. Booher, Gary A. Vandenbark, and Mike Hilligoss, and U.S. Provisional Patent Application Serial No. 62 / 713,457 (hereinafter referred to as the “'457 application”), filed August 1, 2018, entitled Sprayer Systems, Kits, and Methods of Use, filed by inventor Gary A. Vandenbark, and is incorporated herein by reference.

[0003] Federal government-funded research or development

[0004] none. Technical Field

[0005] This disclosure generally relates to spraying, and more specifically to agricultural spraying using vehicle-mounted spraying equipment, as well as related kits, systems, and methods. Such spraying includes, for example, but not limited to, horticultural and ground maintenance spraying. Background Technology

[0006] Sprayer vehicles or vehicles equipped with spraying equipment are known, and details of their typical components and functions will not be repeated here unless incorporated by reference.

[0007] A flight control system for applying chemicals to farmland in conjunction with certain predetermined flight patterns is discussed by reference to U.S. Patent No. 5,334,987 (“Teach”) to Teach, which is incorporated herein by reference. A GPS receiver receives radio frequency signals from satellites and determines the aircraft’s position based on information contained in the received signals. The aircraft computer stores the surface coordinates of the field to be sprayed. The aircraft pilot inputs the desired orientation, spray width, and track width of the flight pattern into the computer. The computer then generates a flight pattern with the desired orientation and produces audible signals during flight representing the amount and direction of deviation from the desired flight pattern. The computer also automatically enables and deactivates chemical spraying as the pilot enters and leaves the airspace above the field. The system discussed in Teach involves aviation-specific hardware and software integrated into the aircraft, and, among other disadvantages, does not independently open and close individual sprayer nozzles, nor does it deactivate any of its sprayer mechanisms when the pilot overlaps with previously sprayed areas.

[0008] By referencing U.S. Patent No. 5,704,546 (“Henderson”) to Henderson et al., which is incorporated herein by reference, a complex integrated position-responsive control system and method for sprayers is discussed, designed to provide droplet size control, drift reduction, spray transport modeling, and application rate gradients to avoid drift (e.g., column 3, lines 35-39). The position-responsive control system monitors the position of the spraying vehicle and modulates the operating conditions of the spraying system in response to the position of the sprayer vehicle. The control system includes setpoint switching subroutines for independently controlling the flow rate and median droplet size setpoints. The control system also includes performance envelopes for various nozzle tips. Independent flow rate and droplet size control methods are provided for use by the control system. The position-responsive control system receives information related to the boundaries of the spray area and spray conditions, such as the application rate and median droplet diameter associated with the spray area. Henderson’s system is complex and expensive to implement, especially on existing sprayer vehicles that do not yet include the specialized equipment required by Henderson.

[0009] By invoking U.S. Patent No. 9,939,417B2 (“McPeek”) to McPeek, which is incorporated herein by reference, systems and methods for monitoring fruit production, plant growth, and plant vitality are discussed. McPeek discusses a system for detecting and geolocating objects such as trees or other plants using a combination of three-dimensional laser scanning (LiDAR), Global Positioning System (GPS), and wide-angle high-definition video and / or thermal video, and for transmitting, recording, classifying, and processing the resulting data to determine trunk diameter, tree height, tree volume, tree leaf density, tree leaf color, tree GPS location, and other data. McPeek proposes the possibility of using the analyzed data to guide fruit tree sprayers (e.g., determining when to spray, for how long, and what chemicals to spray). McPeek’s system involves the laborious steps of individually applying unique radio frequency identification (RFID) tags to each tree and then pairing the data with the corresponding RFID tags.

[0010] By referencing U.S. Patent No. 10,395,115B2 (“Kumar”) to Kumar et al., which is incorporated herein, lidar and thermal imaging systems and deployment patterns for close-range sensing of key characteristics (such as canopy volume, leaf area, water stress, and crop yield) of specialty crops (such as apples, oranges, strawberries, peaches, and pecans) for yield estimation and disease monitoring purposes, and for enabling more precise fertilization, spraying, and pruning.

[0011] Shen, Yue & Zhu, Heping & Liu, Hui & Chen, Yu & Ozkan, Erdal. (2017). Development of a Laser-Guided, Embedded-Computer-Controlled, Air-Assisted Precision Sprayer. Transactions of The ASABE (Proceedings of the American Society of Agricultural Engineers) 60.1827-1838.10.13031 / trans.12455 (available online at https: / / doi.org / 10.13031 / trans.12455) (“Shen et al.”) discusses an air-assisted precision sprayer system with an embedded computer and other built-in hardware. This system uses lidar and a travel speed sensor to sense and calculate in real time whether an object (such as part of a tree canopy) is within a predetermined distance from the spray nozzle. If an object is sensed in real time and calculated to be within the predetermined distance, the nozzle is opened and sprayed on the object. If it is determined in real time that no object is within the predetermined distance, the nozzle is closed and no spraying occurs. A copy of this application is filed with this disclosure statement. The flow rate can be adjusted, for example, based on leaf density. However, like the McPeek system, Shen et al.'s system becomes "dumb" if there are no RFID tags on the trees because it doesn't know their geographical location or their orientation during spraying. Therefore, the data obtained from each pass of Shen et al.'s system is irrelevant to the actual location and orientation of the spraying, and consequently, Shen et al.'s data cannot be used to accurately reproduce the same spraying on the same object in the future, nor can it be used to directly compare the trend of repeatedly spraying the same object over time.

[0012] There is still a need for an advanced “smart” sprayer control system that is inexpensive and easy to implement, requiring only minor component changes, including kits that are easy to adapt to a wide range of existing sprayer vehicles. Summary of the Invention

[0013] This invention elegantly overcomes the various drawbacks and limitations of past systems and provides numerous additional benefits, which will be apparent to those skilled in the art. For example, in various exemplary embodiments, a kit is provided configured to be added to a vehicle having a power- and air-assisted agricultural spraying system, the air-assisted agricultural spraying system including a tank for containing liquid to be sprayed and a plurality of spaced-apart nozzle assemblies in liquid communication with the tank, each nozzle assembly including a check valve removably mounted in a port in each respective nozzle assembly. In various exemplary embodiments, the kit may include: a plurality of pulse width modulation (PWM) solenoids configured to be installed in the ports when the check valves are removed, and to selectively open and close the nozzle assemblies and change the flow rate of liquid through the nozzle assemblies when the plurality of PWM solenoids are installed in the ports; one or more controllers configured to be electrically connected to the plurality of PWM solenoids and to electrically actuate the solenoids when the plurality of PWM solenoids are installed in the ports to selectively open and close the nozzle assemblies and change the flow rate of liquid through the nozzle assemblies; a first bracket configured to attach the one or more controllers to the vehicle; and a first wiring harness configured to be attached to the vehicle and to... One or more controllers electrically connected to the plurality of pulse width modulation solenoids; a second wiring harness configured to be attached to the vehicle and electrically connected to the one or more controllers; a GPS antenna system; a second bracket configured to attach the GPS antenna system to the vehicle; a third wiring harness configured to be attached to the vehicle and electrically connected to the GPS antenna system; a lidar sensing system; a third bracket configured to attach the lidar sensing system to the vehicle; a fourth wiring harness configured to be attached to the vehicle and electrically connected to the lidar sensing system; and a mobile device configured to wirelessly communicate with the GPS antenna system and the one or more controllers, and to data communicate with the lidar sensing system.In various exemplary embodiments, the mobile device may be further configured to receive one or more inputs from a user defining a user-selectable spraying standard; and to receive geolocation and speed information from the GPS antenna system; and to process the geolocation and speed information in light of one or more information databases, the one or more information databases including map data defining sprayed and non-sprayed areas, and plant data corresponding to one or more of the location, height, width, shape, and density of plants located within these sprayed areas, and vehicle data defining the location of each of these nozzle assemblies relative to the GPS antenna system and the lidar sensing system when mounted on the vehicle, and to wirelessly transmit on, off, and pulse width modulation signals to the one or more controllers to individually open and close the flow of liquid through each of these individual nozzle assemblies based on whether each nozzle assembly is within a sprayed or non-sprayed area; and to open or close each of these nozzle assemblies or change the flow rate of liquid through each of these nozzle assemblies based on the user-selectable standard, speed information, and plant data corresponding to a portion of the plant adjacent to each nozzle assembly when mounted on the vehicle.

[0014] In various exemplary embodiments, the lidar sensing system may include a WiFi router configured to wirelessly communicate with the mobile device. In various exemplary embodiments of the kit, the lidar sensing system may include a fan configured to blow debris away from at least the sensing portion of the lidar sensing system.

[0015] In various exemplary embodiments, the user-selectable spraying criterion may include a vertical boundary in which the controller is configured to shut off liquid flow through nozzle assemblies that, when mounted on the vehicle, are oriented to direct the spray beyond the vertical boundary. In various exemplary embodiments, the vertical boundary may be selectable as a function of plant data corresponding to plant height. In various exemplary embodiments, the user-selectable spraying criterion may include one or more adjustments to the flow rate of liquid through the nozzle assemblies based on plant data corresponding to plant density. In various exemplary embodiments, the user-selectable spraying criterion may include one or more adjustments to the flow rate of liquid through the nozzle assemblies based on changes in plant data of a given plant over time.

[0016] In various exemplary embodiments, the kit may further include a fourth bracket configured to attach the mobile device to the vehicle near the driver's position. In various exemplary embodiments, the kit may further include a fifth wiring harness configured to attach to the vehicle and electrically connect the mobile device to the power source when the mobile device is attached to the vehicle near the driver's position.

[0017] Various exemplary embodiments also provide a method for mounting a kit as described herein on a vehicle as described herein, the method comprising the steps of: providing such a vehicle and kit as described herein; removing the check valves from ports in the nozzle assemblies; mounting the plurality of pulse width modulation solenoids in the ports; attaching one or more controllers to the vehicle using the first bracket; connecting the one or more controllers to the plurality of pulse width modulation solenoids using the first wiring harness; attaching the first wiring harness to the vehicle; connecting the one or more controllers to a power source using the second wiring harness; attaching the second wiring harness to the vehicle; attaching a GPS antenna system to the vehicle using the second bracket; connecting the GPS antenna system to the power source using the third wiring harness; attaching the third wiring harness to the vehicle; attaching a lidar sensing system to the vehicle using the third bracket; connecting the lidar sensing system to the power source using the fourth wiring harness; attaching the fourth wiring harness to the vehicle; and inputting vehicle data into one or more databases, the vehicle data defining the position of each of the nozzle assemblies relative to the position of the GPS antenna system and the lidar sensing system when mounted on the vehicle.

[0018] In various exemplary embodiments, the method may further include inputting map data into the one or more databases, the map data defining sprayed areas and non-sprayed areas. In various exemplary embodiments, the step of inputting map data defining sprayed areas and non-sprayed areas into the one or more databases may include the following steps: driving the vehicle along one or more edges of one or more sprayed areas or non-sprayed areas and recording travel path data transmitted from the GPS antenna system to the mobile device. In various exemplary embodiments, the step of inputting map data defining sprayed areas and non-sprayed areas into the one or more databases may include the following steps: guiding different vehicles equipped with a second GPS antenna system along one or more edges of one or more sprayed areas or non-sprayed areas and recording travel path data transmitted from the second GPS antenna system to the mobile device.

[0019] In various exemplary embodiments, the step of inputting map data defining sprayed and non-sprayed areas into the one or more databases may include the step of depicting one or more edges of one or more sprayed or non-sprayed areas on a GUI overlay map of a digital image of the map. In various exemplary embodiments, the step of inputting map data defining sprayed and non-sprayed areas into the one or more databases may include the step of wirelessly downloading at least a portion of the map data from the cloud to the mobile device.

[0020] In various exemplary embodiments, the method may further include the steps of: inputting user-selectable spraying criteria into the mobile device; and inputting plant data into the one or more databases, the plant data corresponding to one or more of the location, height, width, shape, and density of plants located within the spraying areas. In various exemplary embodiments, the step of inputting plant data corresponding to one or more of the location, height, width, shape, and density of plants located within the spraying areas into the one or more databases may include the steps of: driving the vehicle close to plants within one of the spraying areas and recording travel path data transmitted from the GPS antenna system to the mobile device, while also recording plant data transmitted from the lidar sensing system to the mobile device. In various exemplary embodiments, the step of inputting plant data corresponding to one or more of the location, height, width, shape, and density of plants located within the spraying areas into the one or more databases may include the steps of: guiding different vehicles equipped with a second GPS antenna system and a second lidar sensing system close to plants within one of the spraying areas and recording travel path data transmitted from the second GPS antenna system to the mobile device, while also recording plant data transmitted from the second lidar sensing system to the mobile device. In various exemplary embodiments, the step of inputting plant data corresponding to one or more of the location, height, width, shape, and density of plants located within these spraying areas into the one or more databases may include the step of depicting the plant data within the spraying areas on a GUI overlay map of a digital image of the map. In various exemplary embodiments, the step of inputting plant data corresponding to one or more of the location, height, width, shape, and density of plants located within these spraying areas into the one or more databases may include the step of wirelessly downloading at least a portion of the plant data from the cloud to the mobile device.

[0021] In various exemplary embodiments, the step of inputting user-selectable spraying criteria into the mobile device may include the step of selecting a vertical boundary such that the controller is configured to shut off liquid flow through nozzle assemblies oriented to direct spray beyond the vertical boundary. In various exemplary embodiments, the vertical boundary may be selected as a function of plant data corresponding to plant height.

[0022] In various exemplary embodiments, the step of inputting user-selectable spraying criteria into the mobile device may include the step of selecting one or more adjustments to the flow rate of the liquid through the nozzle assemblies based on plant data corresponding to plant density.

[0023] In various exemplary embodiments, a vehicle with a power- and air-assisted agricultural spraying system is also provided, the vehicle comprising: a tank for containing liquid to be sprayed; a plurality of spaced-apart nozzle assemblies in liquid communication with the tank, each nozzle assembly including a pulse width modulation solenoid configured to selectively open and close the nozzle assembly and change the flow rate of liquid through the nozzle assembly; one or more controllers in electrical communication with the plurality of pulse width modulation solenoids and configured to electrically actuate the solenoids to selectively open and close the nozzle assemblies and change the flow rate of liquid through the nozzle assemblies; a first bracket for attaching the one or more controllers to the vehicle; and a first wiring harness. The system comprises: a first harness attached to the vehicle and electrically connecting the one or more controllers to the plurality of pulse width modulation solenoids; a second harness attached to the vehicle and electrically connecting the one or more controllers to the power supply; a GPS antenna system; a second bracket attached to the vehicle; a third harness attached to the vehicle and electrically connecting the GPS antenna system to the power supply; a lidar sensing system; a third bracket attached to the vehicle; a fourth harness attached to the vehicle and electrically connecting the lidar sensing system to the power supply; and a mobile device configured to wirelessly communicate with the GPS antenna system and the one or more controllers, and to data communicate with the lidar sensing system. In various exemplary embodiments, the mobile device may be further configured to receive one or more inputs from a user defining a user-selectable spraying standard; and to receive geolocation and speed information from the GPS antenna system; and to process the geolocation and speed information in light of one or more information databases, the one or more information databases including map data defining sprayed and non-sprayed areas, and plant data corresponding to one or more of the location, height, width, shape, and density of plants located within these sprayed areas, and vehicle data defining the location of each of these nozzle assemblies relative to the GPS antenna system and the lidar sensing system when mounted on the vehicle, and to wirelessly transmit on, off, and pulse width modulation signals to the one or more controllers to individually open and close the flow of liquid through each of these individual nozzle assemblies based on whether each nozzle assembly is within a sprayed or non-sprayed area; and to open or close each of these nozzle assemblies or change the flow rate of liquid through each of these nozzle assemblies based on the user-selectable standard, speed information, and plant data corresponding to a portion of the plant adjacent to each nozzle assembly when mounted on the vehicle.

[0024] In various exemplary embodiments, the mobile device may be configured to update the plant data in real time during the use of the vehicle, updating one or more of the position, height, width, shape, and density of the plants located in the spraying areas as the spraying areas are sprayed by the vehicle.

[0025] In various exemplary embodiments, the vehicle may include a fourth bracket that attaches the mobile device to the vehicle near the driver's position; and a fifth wiring harness that is attached to the vehicle and electrically connects the mobile device to a power source. In various exemplary embodiments of the vehicle, the lidar sensing system may include a WiFi router configured to wirelessly communicate with the mobile device. In various exemplary embodiments of the vehicle, the lidar sensing system may include a fan configured to blow debris away from at least the sensing portion of the lidar sensing system.

[0026] Furthermore, in various exemplary embodiments, a kit is provided configured to be added to a vehicle having a power- and air-assisted agricultural spraying system. The air-assisted agricultural spraying system includes a tank for containing liquid to be sprayed and a plurality of spaced-apart nozzle assemblies in liquid communication with the tank. The kit includes: a plurality of pulse width modulation (PWM) solenoids configured to be mounted in fluid communication with the nozzle assemblies and, when mounted in fluid communication with the nozzle assemblies, selectively opening and closing the nozzle assemblies and changing the flow rate of liquid through the nozzle assemblies; one or more controllers configured to be electrically connected to the plurality of PWM solenoids and, when the plurality of PWM solenoids are mounted in the ports, electrically actuating the solenoids to selectively open and close the nozzle assemblies and change the flow rate of liquid through the nozzle assemblies; a first support, the first... A bracket is configured to attach the one or more controllers to the vehicle; a first wiring harness configured to attach to the vehicle and electrically connect the one or more controllers to the plurality of pulse width modulation solenoids; a second wiring harness configured to attach to the vehicle and electrically connect the one or more controllers to the power supply; a GPS antenna system; a second bracket configured to attach the GPS antenna system to the vehicle; a third wiring harness configured to attach to the vehicle and electrically connect the GPS antenna system to the power supply; a lidar sensing system; a third bracket configured to attach the lidar sensing system to the vehicle; a fourth wiring harness configured to attach to the vehicle and electrically connect the lidar sensing system to the power supply; and a mobile device configured to wirelessly communicate with the GPS antenna system and the one or more controllers, and to data communicate with the lidar sensing system.In various exemplary embodiments, the mobile device may be further configured to receive one or more inputs from a user defining a user-selectable spraying standard; and to receive geolocation and speed information from the GPS antenna system; and to process the geolocation and speed information in light of one or more information databases, the one or more information databases including map data defining sprayed and non-sprayed areas, and plant data corresponding to one or more of the location, height, width, shape, and density of plants located within these sprayed areas, and vehicle data defining the location of each of these nozzle assemblies relative to the GPS antenna system and the lidar sensing system when mounted on the vehicle, and to wirelessly transmit on, off, and pulse width modulation signals to the one or more controllers to individually open and close the flow of liquid through each of these individual nozzle assemblies based on whether each nozzle assembly is within a sprayed or non-sprayed area; and to open or close each of these nozzle assemblies or change the flow rate of liquid through each of these nozzle assemblies based on the user-selectable standard, speed information, and plant data corresponding to a portion of the plant adjacent to each nozzle assembly when mounted on the vehicle.

[0027] A method for mounting a kit as described herein on a vehicle as described herein is also provided, the method comprising the steps of: providing such a vehicle and kit as described herein; mounting a plurality of pulse width modulation solenoids in fluid communication with the nozzle assemblies; attaching one or more controllers to the vehicle using the first bracket; connecting the one or more controllers to the plurality of pulse width modulation solenoids using the first wiring harness; attaching the first wiring harness to the vehicle; connecting the one or more controllers to a power source using the second wiring harness; attaching the second wiring harness to the vehicle; attaching a GPS antenna system to the vehicle using the second bracket; connecting the GPS antenna system to the power source using the third wiring harness; attaching the third wiring harness to the vehicle; attaching a lidar sensing system to the vehicle using the third bracket; connecting the lidar sensing system to the power source using the fourth wiring harness; attaching the fourth wiring harness to the vehicle; and inputting vehicle data into one or more databases, the vehicle data defining the position of each of the nozzle assemblies relative to the position of the GPS antenna system and the lidar sensing system when mounted on the vehicle.

[0028] Other aspects, alternatives, and variations that will be apparent to those skilled in the art are also disclosed herein and are specifically considered to be included as part of this invention. The invention is set forth only in the claims permitted by the Patent Office in this or related applications, and the brief description of certain examples below does not in any way limit, define, or otherwise establish the scope of legal protection. Attached Figure Description

[0029] The following accompanying drawings provide a better understanding of the embodiments of the invention. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on clearly illustrating exemplary aspects of the invention. In the drawings, the same reference numerals refer to corresponding portions in different views, and these reference numerals may or may not correspond to the corresponding or similar portions in '833 application. It should be understood that certain components and details may not appear in the drawings to aid in a clearer description of the invention.

[0030] Figure 1A This is a top plan view of an exemplary vehicle used in conjunction with various exemplary embodiments of the present invention, showing its sprayers turned on.

[0031] Figure 1B yes Figure 1A A top-down plan view of an exemplary vehicle, showing its sprayers off.

[0032] Figure 2 It is based on certain exemplary embodiments. Figure 1A A top-down view of an exemplary vehicle shows the removal of a check valve from a port in the nozzle assembly.

[0033] Figure 3 The following are examples of embodiments listed for use such as Figure 2 The diagrams shown are of exemplary contents of an exemplary kit for a vehicle. It should be understood that kits according to the invention may include fewer and / or additional contents.

[0034] Figure 4 yes Figure 2 The exemplary vehicle top view shows a pulse width modulation solenoid mounted in fluid communication with a nozzle assembly. This may include mounting the solenoid into a port of the nozzle assembly, and in some exemplary embodiments, a check valve is removed from these ports.

[0035] Figure 5 yes Figure 4 The exemplary vehicle top view shows a pulse width modulation solenoid installed in fluid communication with a nozzle assembly. This may include installing the solenoid into a port of the nozzle assembly, and in some exemplary embodiments, a check valve is removed from these ports.

[0036] Figure 6A yes Figure 5 The exemplary vehicle is shown in a top view, illustrating the addition of an exemplary first bracket and a second bracket (which may be the same bracket) to the rear portion of the vehicle and the addition of a third bracket to the front portion of the vehicle.

[0037] Figure 6B yes Figure 6AThe diagram shows a top view of an exemplary vehicle, illustrating the addition of an exemplary LiDAR sensing system to a third bracket on the front portion of the vehicle.

[0038] Figure 7 yes Figure 6A A partial cross-sectional top view of an exemplary vehicle shows one or more exemplary controllers being further added to the first bracket.

[0039] Figure 8 yes Figure 7 A partial cross-sectional top view of an exemplary vehicle shows an exemplary GPS antenna system added to a second bracket, which may be the same as or different from the first bracket in various exemplary embodiments.

[0040] Figure 9 yes Figure 8 The top-view plan view of the exemplary vehicle shows the addition of an exemplary first wiring harness to connect one or more controllers to a pulse width modulation solenoid.

[0041] Figure 10 yes Figure 9 A top-down view of an exemplary vehicle shows the attachment of the first wiring harness to the vehicle.

[0042] Figure 11 yes Figure 10 The exemplary vehicle top view shows the addition of an exemplary second wiring harness to connect one or more exemplary controllers to an exemplary power source, and the addition of an exemplary third wiring harness, which may be the same as or different from the second wiring harness in various exemplary embodiments, to connect an exemplary GPS antenna system to an exemplary power source, and also shows the addition of an exemplary third wiring harness to connect an exemplary lidar sensing system to an exemplary power source.

[0043] Figure 12 yes Figure 11 A top-view plan view of an exemplary vehicle shows the attachment of the second, third, and fourth wiring harnesses to the vehicle.

[0044] Figure 13 yes Figure 12 The top view of the exemplary vehicle illustrates the steps of measuring and recording vehicle data regarding the relative position of the nozzle assembly with respect to the exemplary GPS antenna system and with respect to the exemplary lidar sensing system.

[0045] Figure 14 yes Figure 13 The example vehicle is shown in a top view, illustrating the addition of an exemplary fourth bracket to the driver's seat area.

[0046] Figure 15 yes Figure 14A partial cross-sectional top view of an exemplary vehicle shows the addition of an exemplary fifth wiring harness to connect an exemplary fourth bracket to an exemplary power source.

[0047] Figure 16 yes Figure 15 A partial cross-sectional top view of an exemplary vehicle shows an exemplary mobile device being removably connected to an exemplary fourth bracket, such that the mobile device can receive electrical power from a fifth wiring harness.

[0048] Figure 17 yes Figure 16 A top-view plan view of an exemplary vehicle, showing Figure 1A An exemplary vehicle, wherein an exemplary kit according to various exemplary embodiments is installed on the vehicle and operates on the vehicle.

[0049] Figure 18 yes Figure 17 A top-down view of an exemplary vehicle shows the vehicle positioned in the spraying area and moving toward a non-spraying area, where all nozzle assemblies are spraying.

[0050] Figure 19 yes Figure 18 The exemplary vehicle top view shows the vehicle moving from a spraying area across a boundary to a non-spraying area, where the nozzle assembly in the spraying area is spraying while the nozzle assembly in the non-spraying area is closed.

[0051] Figure 20 yes Figure 19 The exemplary vehicle top view shows the vehicle moving further across the boundary from the spraying area to a non-spraying area, where the nozzle assembly in the spraying area is spraying while the nozzle assembly in the non-spraying area is closed.

[0052] Figure 21 yes Figure 20 The example vehicle is shown in a top-down plan view, illustrating that the vehicle has moved from the spraying area across the boundary to the non-spraying area, where all nozzle assemblies are closed because they are now in the non-spraying area.

[0053] Figure 22 It is based on various exemplary embodiments. Figure 21 The example vehicle is shown in a top-down plan view, depicting the vehicle traversing a non-spraying area toward trees or other plants. The vehicle senses, interprets, and records its position as a spraying area with vertical and horizontal components according to user-defined criteria, and then sprays the area in real time as the vehicle passes the trees or other plants or during subsequent passage with spray nozzles that are sufficiently close to the spraying area.

[0054] Figure 23A It is based on various exemplary embodiments. Figure 22The example vehicle is shown in a top-down plan view, illustrating the vehicle's exemplary lidar system moving close to a tree or other plant. According to user-defined criteria, the vehicle is sensing, interpreting, and recording its position as a spray area with vertical and horizontal components.

[0055] Figure 23B yes Figure 23A The exemplary vehicle is shown as a frontal view taken along the direction indicated by arrow BB.

[0056] Figure 24A It is based on various exemplary embodiments. Figure 23A The top-down plan view of the exemplary vehicle shows that certain exemplary spray nozzles of the vehicle are close to the trees or other plants in the spray area with vertical and horizontal components, which are sensed, interpreted and recorded by the vehicle in real time or during previous passes according to user-defined criteria, and then turned on and sprayed the trees or other plants.

[0057] Figure 24B yes Figure 24A The exemplary vehicle is shown as a rear front view taken along the direction indicated by arrow BB.

[0058] Furthermore, certain aspects of exemplary embodiments of the invention are illustrated by reference to the figures, drawings, and photographs in the '139 application, all of which are incorporated herein by reference (including those incorporated herein by reference themselves), wherein: page 14 is a diagram illustrating various exemplary components of exemplary embodiments; pages 000015 and 000016 provide exemplary details of certain components according to a first exemplary embodiment; pages 000017 and 000018 provide exemplary details of certain components according to a second exemplary embodiment; pages 000019 to 000031 provide information on exemplary installation of certain exemplary components according to exemplary embodiments; pages 000032 to 000098 provide exemplary views and information on one or more screen interfaces that can be viewed by a user of an exemplary system; pages 000099 to 000147 provide exemplary views and information on an exemplary portal website for use in conjunction with exemplary system embodiments; and pages 000148 to 000182 provide exemplary information on software that can be used in conjunction with exemplary embodiments.

[0059] This invention is not limited to what is shown in these exemplary figures. The invention is broader than the examples shown in the figures and covers anything falling within any of the claims. Detailed Implementation

[0060] This document references specific examples of the invention, including any best mode contemplated by the inventors for carrying out the invention. Examples of these specific embodiments are illustrated in the accompanying drawings. While the invention has been described in conjunction with these specific embodiments, it should be understood that the invention is not intended to be limited to the described or illustrated embodiments. Rather, it is intended to cover numerous alternatives, modifications, and equivalents that may be included within the spirit and scope of the invention as defined in the appended claims.

[0061] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. Certain exemplary embodiments of the invention may be practiced without some or all of these specific details. In other instances, processes well known to those skilled in the art have not been described in detail so as not to unnecessarily obscure the invention. For clarity, various techniques and mechanisms of the invention will sometimes be described in the singular. However, it should be noted that, unless otherwise stated, some embodiments include multiple iterations of techniques or multiple mechanisms. Similarly, the different steps of the methods shown and described herein are not necessarily performed in the indicated order, or in some embodiments are not performed at all. Thus, some implementations of the methods discussed herein may include more or fewer steps than those shown and described. Furthermore, the techniques and mechanisms of the invention will sometimes describe connections, relationships, or connectivity between two or more entities. It should be noted that connections or relationships between entities do not necessarily refer to direct, unobstructed connections, as a wide variety of other entities or processes may exist or occur between any entities. Therefore, unless otherwise indicated, indicated connections do not necessarily refer to direct, unobstructed connections.

[0062] First go to Figure 1A and Figure 1B The image depicts a top plan view of an exemplary embodiment of a conventional vehicle 2000, showing the sprayer open. Figure 1A ) and close ( Figure 1B It should be understood that, apart from those set forth in the claims, details regarding the nature, size, type, layout, orientation, number of wheels or tracks, and other aspects of the vehicle 2000 are generally not important to the invention. Therefore, a single, general exemplary vehicle 2000 is consistently used throughout the drawings as a background to illustrate possible embodiments of the invention, and the details of this exemplary vehicle 2000 are in no way intended to limit the scope of the invention except as specifically stated in the claims. For example, the vehicle 2000 includes nine (9) nozzle assemblies 2230; this is entirely arbitrary and not limiting, as any suitable number of nozzle assemblies 2230 may be used.

[0063] Continue to refer to Figure 1A and Figure 1BThe particular exemplary vehicle 2000 is shown as having a front end 2010, a rear end 2020, a left side 2011 and a right side 2012, a power source 2100 (such as a battery, a charging system, and a wiring system connected thereto, any of which may be located anywhere on the vehicle), a driver's position 2300 (which may include a seat as shown), and includes a front steerable wheel 2005 near the front end 2010 and a rear driven wheel 2015 near the rear end 2020. It should be understood that although wheels 2005 and 2015 appear generally rectangular from this top view, they will appear round in a left view or a side view (not shown). The exemplary sprayer 2000 is an air-delivered or blower-driven sprayer and includes a spraying system 2200. This spraying system includes tanks 2210 for containing liquid 2220 (in the form of mist or fog) (such as water containing chemicals such as fertilizer) sprayed by a vehicle 2000 (which may include a tractor or other vehicle with a sprayer attachment) using fan-driven air pressure. (Although they appear generally rectangular in a top view, they may appear circular in a front or rear view (not shown).) The spraying system 2200 also includes a laterally elongated nozzle positioning structure 2030 attached to the rear end 2020 of the exemplary vehicle 2000 by a mounting structure 2025. The nozzle positioning structure 2030 extends laterally beyond the left side 2011 and beyond the right side 2012. Attached to the nozzle positioning structure 2030 are a plurality of (in this case, nine (9)) spaced-apart nozzle assemblies 2230, which are in liquid communication with the tank 2210 and in pressurized air communication with one or more fans (not shown). Figure 1A The image depicts a nozzle assembly 2230 spraying liquid 2220 (in the form of mist or fog) onto the ground, for example, when the liquid 2220 (in the form of mist or fog) is pumped from a tank 2210 through the nozzle assembly 2230 by a pump (not shown) with the assistance of air pressure (not shown). In contrast, Figure 1B The same nozzle assembly 2230 is depicted not spraying liquid 2220 (in the form of mist or fog) onto the ground, for example, when the liquid 2220 (in the form of mist or fog) is not pumped from tank 2210 through nozzle assembly 2230 by a pump (not shown). In this type of embodiment, a check valve 2240 may be removably installed in each nozzle assembly, for example, to close nozzle assembly 2230 and prevent backflow into spraying system 2200 when liquid 2220 (in the form of mist or fog) is not forced through nozzle assembly 2230.

[0064] Figure 2The removal of check valve 2240 from port 2250 in each corresponding nozzle assembly 2230 is demonstrated. Each port 2250 allows liquid 2220 (in the form of mist or atom) to enter the flow channel as liquid 2220 (in the form of mist or atom) flows through nozzle assembly 2230. Vehicle 2000 is now ready to install kit 1000.

[0065] Alternatively, a separate port (not shown) suitable for receiving the pulse width modulation solenoid 1010 of the present invention may be routed into liquid communication with the nozzle assembly 2230, for example using a T-fitting, and for the purposes of this disclosure, the separate port may also or alternatively be referred to as port 2250. In various exemplary embodiments, such T-fittings or other components required to make such a route change may be provided as part of kit 1000.

[0066] Figure 3 The potential contents of an exemplary kit 1000 according to various exemplary embodiments are shown. Such a kit 1000 does not need to be sold together in a single package to constitute kit 1000. Rather, kit 1000 constitutes the present invention whenever the individual contents of kit 1000 are brought together in any way for manufacture, use, sale, or importation. Further description herein is provided. Figure 3 Various aspects of the components identified in the document, as well as additional and alternative components of the kit 1000. Additional details regarding exemplary components of the kit 1000 are provided in '139 application, which is incorporated herein by reference.

[0067] Figure 4 and Figure 5 This demonstrates the installation of multiple pulse width modulation solenoids 1010 in port 2250, among which... Figure 4 The arrows in the diagram indicate the installation direction, and Figure 5 The assembled components are shown. In various exemplary embodiments, the pulse width modulation solenoid 1010 can be configured to suit the position of the check valve 2240 in port 2250, and to be attached to or connected to port 2250 in the same or similar manner as the attachment of the check valve 2240 to port 2250 (e.g., by threaded connection or any other suitable attachment means). When thus installed, the pulse width modulation solenoid 1010 can selectively open and close the respective nozzle assemblies 2230, or change their flow rates by retracting and extending the retractable members into the flow path of the liquid 2220 (in the form of mist or fog) in the nozzle assemblies 2230.

[0068] Figure 6A , Figure 6B , Figure 7 and Figure 8A method for attaching one or more wirelessly controllable solenoid controllers 1020, a GPS antenna system 1040 that wirelessly transmits information identifying its location, and a lidar sensing system 7000 that wirelessly or wiredly transmits data about sensed objects to a vehicle 2000 is illustrated using brackets 1050, 1051, 1052 (any one or all of which may be the same or separate brackets). Additional details regarding exemplary components, structures, and exemplary mounting structures 2025 for mounting brackets 1050, 1051, 1052 onto the rear region 2020 of an exemplary vehicle 200 are provided in Shen et al. and in the incorporated '139 application. Details regarding exemplary wirelessly controllable solenoid controllers 1020 (including versions having one or two such controllers 1020) and exemplary GPS antenna systems 1040 that wirelessly transmit information identifying their location are also provided in the incorporated '139 application. Details regarding the exemplary lidar system 7000 are also provided in Shen et al. In some exemplary embodiments of kit 1000, one or more wirelessly controllable solenoid controllers 1020 and wireless GPS antenna systems 1040 are pre-assembled to brackets 1050, 1051, and must then be attached to any suitable location on vehicle 2000 using only the provided hardware (such as multiple brackets and fasteners). In some exemplary embodiments of kit 1000, brackets 1050, 1051, 1052 may be provided with adjustment means for adjusting the height of the components to which they are attached, such as a plurality of selectable mounting holes, as shown, for example, in the incorporated '139 application. Brackets 1050, 1051, 1052 may include any suitable number and variation of individual and varied brackets, fasteners, and associated components, for example, to facilitate mounting kit 1000 to various different vehicles 2000, and any suitable material may be used for brackets 1050, 1051, 1052, such as steel. It should be understood that in alternative embodiments (not shown), one or more wirelessly controllable solenoid controllers 1020, GPS antenna systems 1040, and lidar sensing systems 7000 can be attached to the vehicle 2000 in substantially the same location using the same brackets (e.g., 1050 or 1052).

[0069] Figure 9 This demonstrates the use of multiple pulse width modulation solenoids 1010 to connect one or more controllers 1020 to a first wiring harness 1030, while Figure 10The diagram illustrates attaching a first wiring harness 1030 to a vehicle 2000, including to a nozzle positioning structure 2030, using, for example, multiple wiring straps 1032 or other similar connection devices that may be provided as part of kit 1000. The first wiring harness 1030 may include multiple individual, separate leads or other suitable wiring components, or may include wiring components at least partially joined together, or both. The wire components of the first wiring harness 1030 may be individually customized in length to suit a given installation of the nozzle positioning structure 2030 extending laterally along a known length range. The first wiring harness 1030 may include suitable plugs at the ends of the wire components to facilitate easy insertion and removal of the first wiring harness 1030 from the vehicle 2000.

[0070] Figure 11 The diagram demonstrates connecting power supply 2100 to one or more controllers 1020 using a second wiring harness 1060, connecting the power supply to a GPS antenna system 1040 using a third wiring harness 1061, and connecting the power supply to a lidar sensing system 7000 using a fourth wiring harness 1062. When components are mounted close to each other, one or more of wiring harnesses 1060, 1061, and 1062 can be part of the same wiring harness. Power supply 2100 can be located anywhere on vehicle 2000 or electrically accessible from any location on vehicle.

[0071] Figure 12 The diagram illustrates attaching the second wiring harness 1060, the third wiring harness 1061, and the fourth wiring harness 1062 to the vehicle 2000, for example, using multiple wiring straps 1032 or other similar connection devices that may be provided as part of the kit 1000. The second wiring harness 1060, the third wiring harness 1061, and the fourth wiring harness 1062 may each comprise multiple individual, separate wires, or may comprise wiring components at least partially joined together, or both. The wire components of the second wiring harness 1060 and the third wiring harness 1061 may each be individually customized in length to accommodate mounting the GPS antenna system 1040 above one or more controllers 1020 at various adjustable heights. The second wiring harness 1060, the third wiring harness 1061, and the fourth wiring harness 1062 may each include suitable plugs or other attachment devices at or for the ends of the wire components to facilitate easy attachment and removal of the wiring harnesses from the vehicle 2000.

[0072] Figure 13The illustration shows a user 6000 using the screen or display 1071 of a mobile device 1070 to input vehicle data 1042 into one or more databases (not shown). These databases may be located partially or entirely on the mobile device 1070, or partially or entirely remotely, such as in the cloud 5000 (i.e., on the Internet that can be wirelessly accessed 1074 from the mobile device 1070). Vehicle data 1042 may include, for example, measurements (such as front-to-back distance, left-to-right distance) defining, for example, the dimensional position of each nozzle assembly 1010 relative to the GPS antenna system 1040 and the lidar system 7000 when mounted on the vehicle 2000. At this stage or at another time, user 6000 can input user-defined criteria into mobile device 1070 to provide various parameters to the software in mobile device 1070, such as recalling a previous spray map or recording a new spray map or both, providing information about the boundaries or paths of where to spray, what type of object to spray in the spray area (e.g., by identifying vertical height ranges or upper or lower limits, according to plant density, by identifying individual plants by, for example, finding and identifying tree trunks, and according to the maximum sensing horizontal distance from spray nozzle 2230), how the spray flow rate is, and the overlap of spray distances before and after the sensed object. Mobile device 1070 can be any suitable electronic device that, on its own or in combination with other devices, has the ability to receive data input, store data, process data, and wirelessly transmit data (by example and not limitation, this includes smartphones, tablets, laptops, and any other suitable wireless electronic devices). Among other things, examples of inputting certain user-defined criteria are provided in U.S. Patent No. 9,851,718B2, issued to Booher on December 26, 2017, entitled Intelligent Control Apparatus, System, and Method of Use, and in a provisional patent application claiming priority thereto (i.e., Provisional Application No. 62 / 056,470, filed September 26, 2014), both of which are incorporated herein by reference in their entirety.

[0073] Figure 14 , Figure 15 and Figure 16The illustration demonstrates mounting and wiring a mobile device 1070 near the driver's seat position 2300 in a vehicle 2000, allowing a user 6000 to view, interact with, or both of the mobile device 1070 while seated in the 2300. A fourth bracket 1080 can be provided and attached to the vehicle 2000, configured to attach the mobile device 1070 to the vehicle 2000 near the driver's seat position 2300. The fourth bracket 1080 allows for easy removal and replacement of the mobile device 1070 from the bracket 1080, or can provide locking or other mechanisms for removably securing or protecting the mobile device 1070 or both. When the mobile device 1070 is attached to the vehicle 2000 near the driver's seat position 2300, a fifth wiring harness 1090 can be configured to attach to the vehicle 2000 and electrically connect the mobile device 1070 to a power source 2100, which can be located anywhere on the vehicle 2000 or electrically accessible from any location on the vehicle. Figure 15 Best illustrated is attaching a fifth wiring harness 1090 to a vehicle 2000, for example, using multiple cable ties 1032 or other similar connection devices that may be provided as part of kit 1000. The fifth wiring harness 1090 may include multiple individual, separate wires, or may include wiring components at least partially joined together, or both. The fifth wiring harness 1090 may include suitable plugs or other attachment devices on or for the ends of the wire components to facilitate easy attachment and removal of the fifth wiring harness 1090 to and from the vehicle 2000.

[0074] Figure 17 This illustrates various exemplary aspects of wireless and other communications that may occur on vehicle 2000 once the exemplary kit 1000 has been installed and is in use. The lidar sensing system 7000 typically emits a laser beam 7070 radially outward from the lidar sensing system 7000 in a vertical plane perpendicular to the direction of travel of vehicle 2000, for example, as... Figure 17 and Figure 23B As shown. The lidar system 7000 detects reflections of a laser beam 7070, which correspond to the presence, location (vertical and horizontal distances from the lidar sensing system 7000), and density of certain objects (such as trees or other plants) to be sprayed according to user-defined criteria. The lidar-sensed information 7078 is then wirelessly (e.g., where the lidar sensing system 7000 includes a WiFi router (not shown separately)) or alternatively transmitted via a wire (not shown) such as a USB cable (not shown) to a mobile device 1070. McPeek and Shen et al. provide additional information regarding the exemplary lidar system 7000.

[0075] Continue to refer to Figure 17 The GPS antenna system 1040 receives GPS satellite position signals 1079, typically from satellites in space. Optionally, and not present in some embodiments, the GPS antenna system 1040 may also receive correction radio frequency signals 1105 from a fixed differential ground station 1100, which may already be present or may be provided as part of kit 1000 in some exemplary embodiments. The fixed differential ground station 1100 typically receives GPS satellite position signals 1079 from satellites in space and emits correction signals 1105 from a fixed location, which the GPS antenna system 1040 can use to correct its position readings. Further details regarding an exemplary GPS antenna system 1040 are provided in the incorporated '139 application. Additional information regarding these types of GPS systems is provided in the Teach patent, which is incorporated herein by reference.

[0076] Further reference Figure 17The mobile device 1070 can wirelessly communicate with the GPS antenna system 1040 1076 and can wirelessly receive geographic location information from the GPS antenna system 1040 1078. Based on a real-time comparison of geographic location information 1078 received from GPS antenna system 1040 and lidar-sensed information 7078 received from lidar sensing system 7000 with user-selected criteria and boundary mapping information that mobile device 1070 may have obtained (or obtained in real time) in various ways (including direct input from user 6000 and wireless input from Internet 5000 1074), and based on vehicle data 1042 indicating where each nozzle assembly 2230 is located relative to GPS antenna system 1040 and lidar sensing system 7000, mobile device 1070 can determine whether each nozzle assembly 2230 is currently located sufficiently close to spray area 3000 or non-spray area 4000, and if sufficiently close to spray area 3000, also determine whether to change the spray output and the extent of the change based on sensed plant density, spray distance, or any other user-selected criteria. Based on the determined result, the mobile device 1070 can wirelessly transmit the on / off and flow rate signals 1072 to one or more controllers 1020, which then send the signals to the corresponding pulse width modulation solenoids 1010 via the first wiring harness 1030 to open, close, or change the flow rate of the liquid 2220 (in the form of mist or fog) through each individual nozzle assembly 2230. In various exemplary embodiments, the user 6000, who is the driver of the vehicle 2000, may be able to view on a display or screen 1071 a dynamic map image depicting the real-time travel path and spray coverage area of ​​the vehicle 2000, including sprayed areas 3000, non-sprayed areas 4000, a two-dimensional or even three-dimensional "heat map" showing how much has been sprayed within the entire sprayed area 3000, the boundaries 3500 between these areas, and sprayed areas 3000 that have been sprayed and thus become non-sprayed areas 4000 for the remainder of the project or workday (or other time period) for the purpose of controlling the pulse width modulation solenoid 1010 (but not necessarily for map display purposes). The figures, drawings, photographs, and detailed written description (including those incorporated herein by reference) in the incorporated '139 application illustrate certain exemplary aspects of the mobile device 1070 and its software and interface, wherein pages 000032 to 000098 provide exemplary views and information about one or more screen interfaces that can be viewed by a user of the exemplary system, pages 000099 to 000147 provide exemplary views and information about an exemplary portal for use in conjunction with an exemplary system embodiment, and pages 000148 to 000182 provide exemplary information about software that can be used in conjunction with exemplary embodiments of various components.

[0077] Figures 18 to 21 The image depicts a vehicle 2000 equipped with kit 1000 and in use, as described above. Figure 17 As described. Figure 18 The image shows vehicle 2000 positioned within spray area 3000 (represented by a vertically extending shadow on the page) and moving along arrow 3100 (forward) towards non-spray area 4000 (represented by a horizontally extending shadow across the page) and towards the digitally defined boundary 3500 between spray area 3000 and non-spray area 4000. Because... Figure 18 All nozzle assemblies 2230 on the vehicle 2000 are located within the spray area 3000, so all pulse width modulation solenoids 1010 are opened (or otherwise actuated) to allow liquid 2220 (in the form of mist or fog) to flow through each nozzle assembly 2230.

[0078] Then, Figure 19 The image shows vehicle 2000 partially located within spray area 3000 (represented by shading extending vertically across the page) and still moving towards non-spray area 4000 in the direction of the arrow, now partially passing through that non-spray area (represented by shading extending horizontally across the page), and partially traveling across the digitally defined boundary 3500 between spray area 3000 and non-spray area 4000. Because... Figure 18 Of the nine nozzle assemblies 2230 on vehicle 2000, only seven are currently located within spray zone 3000 (while two of the nine nozzle assemblies 2230 are located within non-spray zone 4000). Therefore, only the seven pulse width modulation solenoids 1010 located within spray zone 3000 are opened (or otherwise actuated) to allow liquid 2220 (in the form of mist or fog) to flow through each of these seven nozzle assemblies 2230. The two pulse width modulation solenoids 1010 located within non-spray zone 4000 are closed (or otherwise actuated) to stop the flow of liquid 2220 (in the form of mist or fog) through these two nozzle assemblies 2230.

[0079] Next, Figure 20 This shows vehicle 2000 leaving spray area 3000 (represented by a vertically extending shaded marker on the page) and still traveling in the direction of the arrow into non-spray area 4000 (represented by a horizontally extending shaded marker across the page), while crossing the digitally defined boundary 3500 between spray area 3000 and non-spray area 4000. Because... Figure 18Of the nine nozzle assemblies 2230 on vehicle 2000, only three are currently located within spray zone 3000 (while six of the nine nozzle assemblies 2230 are located within non-spray zone 4000). Therefore, only the three pulse width modulation solenoids 1010 located within spray zone 3000 are opened (or otherwise actuated) to allow liquid 2220 (in the form of mist or fog) to flow through each of these three nozzle assemblies 2230. The six pulse width modulation solenoids 1010 located within non-spray zone 4000 are closed (or otherwise actuated) to stop the flow of liquid 2220 (in the form of mist or fog) through these six nozzle assemblies 2230.

[0080] Then, Figure 21 This shows that vehicle 2000 has completely left the spraying area 3000 (indicated by the vertically extending shadow on the page) and is still traveling entirely within the non-spraying area 4000 in the direction of the arrow (indicated by the horizontally extending shadow across the page). Because... Figure 18 None of the nine nozzle assemblies 2230 on vehicle 2000 are currently located within spray area 3000 (while all nine nozzle assemblies 2230 are located within non-spray area 4000), therefore no pulse width modulation solenoid 1010 is located within spray area 3000, so no pulse width modulation solenoid is opened (or otherwise actuated) to allow liquid 2220 (in the form of mist or fog) to flow through its corresponding nozzle assembly 2230. All nine pulse width modulation solenoids 1010 are located within non-spray area 4000 and are closed (or otherwise actuated) to stop the flow of liquid 2220 (in the form of mist or fog) through all nine nozzle assemblies 2230.

[0081] Figure 22 The diagram shows a vehicle 2000 traversing a non-spraying area toward a spraying area 3000 that includes trees or other plants. The vehicle 2000, equipped with kit 1000, senses, interprets, and records its position as a spraying area 3000 with vertical and horizontal components according to user-defined criteria. Then, as the vehicle 2000 passes the trees or other plants that constitute the spraying area 3000, it sprays them in real time or during subsequent passage with spray nozzles 2230 that are sufficiently close to the spraying area 3000.

[0082] Figure 23A and Figure 23BThe diagram illustrates that the vehicle 2000 has begun to approach the trees or other plants constituting the spraying area 3000. It shows the lidar sensing system 7000 emitting a laser beam 7070 radially outward from the lidar sensing system 7000 in a vertical plane perpendicular to the vehicle 2000's direction of travel. The lidar system 7000 detects reflections of the laser beam 7070, which correspond to the presence, position (vertical and horizontal distances from the lidar sensing system 7000), and density of the trees or other plants constituting the spraying area 3000, thereby defining the boundary 3500 of the spraying area 3000 according to user-defined criteria. As the vehicle 2000 continues forward 3100, the lidar sensing system 7000 moves past the trees or other plants constituting the spraying area 3000, generating data representing the three-dimensional outer contour or boundary 3500 of the spraying area 3000. This data may include plant data corresponding to one or more of the position, height, width, shape, and density of plants located within the spraying area 3000. The information 7078 sensed by the lidar is then wirelessly (e.g., where the lidar sensing system 7000 includes a WiFi router (not shown separately)) or alternatively transmitted via a wire (not shown), such as a USB cable (not shown), to the mobile device 1070. Combining the geographic location (including orientation) information 1078 wirelessly received from the GPS antenna system 1040 with vehicle speed information, the mobile device 1070 can then determine whether each nozzle assembly 2230 is currently sufficiently close to the spray area 3000 as the vehicle 2000 continues to move, for example, in the forward direction 3100. The lidar-sensed information 7078 can be simultaneously overlaid with the vehicle speed information and geographic location information 1078 from the GPS antenna system 1040 and recorded for future evaluation and reuse. Alternatively, the determination of whether each nozzle assembly 2230 is currently sufficiently close to the spray area 3000 as the vehicle 2000 continues to move can be made by comparing the currently sensed vehicle speed, orientation, and geographic location information 1078 from the GPS antenna system 1040 with previously recorded LiDAR sensing information 7078 that overlaps with the previously recorded vehicle speed, orientation, and geographic location information 1078 from the GPS antenna system 1040. In other words, the system can operate at least in part based on previously recorded data rather than on real-time sensing of the current situation.

[0083] like Figure 24A and Figure 24B As depicted, when each nozzle assembly 2230 is determined by the mobile device 1070 to have become sufficiently close to the spray area 3000, the mobile device 1070 can transmit an on signal and a flow rate signal (in... Figure 17The signal is wirelessly transmitted (as depicted in 1072) to one or more controllers 1020, which then transmit the signal via a first harness 1030 to a corresponding pulse width modulation solenoid 1010 to, for example, based on sensed plant density, spraying distance, and any user-selected criteria, open and change the flow rate of the liquid 2220 (in the form of mist or spray) through the corresponding individual nozzle assembly 2230. Figure 24B Ideally, nozzles that are not sufficiently close to the spray area 3000, as determined by the mobile device 1070 (whether by horizontal or vertical distance or nozzle direction or any combination or function of the foregoing factors), are shut off by one or more controllers 1020 to save sprayed liquid 2220 and optimize spraying efficiency and effectiveness.

[0084] In various exemplary embodiments, the method of using vehicle 2000 as described herein may further include the step of inputting vehicle data 1042 into one or more databases that define the position of each nozzle assembly 2230 relative to the GPS antenna system 1040 when mounted on vehicle 2000. In various exemplary embodiments, the step of inputting vehicle data into one or more databases may include the step of inputting map data into one or more databases that define spray areas 3000 and non-spray areas 4000. In various exemplary embodiments, the step of inputting vehicle data into one or more databases may include the steps of driving vehicle 2000 along one or more edges 3500 of one or more spray areas 3000 or non-spray areas 4000 and recording travel path data transmitted from GPS antenna system 1040 to mobile device 1070, for example, as described in '718 patent which is incorporated herein by reference, and overlaying the data with information 7078 sensed by corresponding lidar. In various exemplary embodiments, the step of inputting vehicle data into one or more databases may include guiding a vehicle other than vehicle 2000 and having a second GPS antenna system (see '718 patent and references discussed therein) and a second lidar sensing system 7000 along one or more edges 3500 of one or more sprayed areas 3000 or non-sprayed areas 4000 and recording travel path data 1078 transmitted from the second GPS antenna system 1040 to the mobile device 1070. In various exemplary embodiments, the step of inputting vehicle data into one or more databases may include depicting one or more edges of one or more sprayed areas or non-sprayed areas on a GUI overlay of a digital image of a map, for example, as shown on pages 000063 to 000070 of the incorporated '139 application. In various exemplary embodiments, the step of inputting vehicle data into one or more databases may include depicting one or more edges of one or more sprayed areas or non-sprayed areas on a GUI overlay of a digital image of a map appearing on the screen 1071 of the mobile device 1070. In various exemplary embodiments, the step of inputting vehicle data into one or more databases may include the step of downloading at least a portion of map data from cloud 5000 wireless 1074 to mobile device 1070.

[0085] In various exemplary embodiments, the method of using vehicle 2000 as described herein may further include the following steps: driving vehicle 2000 toward one or more edges 3500 of one or more spray areas 3000 or non-spray areas 4000 such that one or more of a plurality of spaced-apart nozzle assemblies 2230 are positioned sufficiently close to spray area 3000, while other nozzle assemblies of the plurality of spaced-apart nozzle assemblies 2230 are not positioned sufficiently close to spray area 3000, and thereby causing mobile device 1070 to wirelessly transmit signal 1072 to one or more controllers 1020 to individually open or allow liquid 2220 (in the form of mist or fog) to flow through each of the individual nozzle assemblies 2230 positioned close to one or more spray areas 3000 and to individually close or prevent liquid 2220 (in the form of mist or fog) to flow through each of the individual nozzle assemblies 2230 not positioned sufficiently close to one or more spray areas 3000.

[0086] In various exemplary embodiments, the method of using vehicle 2000 as described herein may further include the following steps: driving at least a portion of vehicle 2000 across the boundary 3500 between spray area 3000 and non-spray area 4000, such that at a first time, all of the plurality of spaced-apart nozzle assemblies 2230 are located within spray area 3000, and at a second time after the first time, all of the plurality of spaced-apart nozzle assemblies 2230 are located within non-spray area 3000, thereby causing, at the first time, mobile device 1070 to wirelessly transmit signal 1072 to one or more controllers 1020 to individually open or allow liquid 2220 (in the form of mist or fog) to flow through each individual nozzle assembly 2230, and causing, at the second time, mobile device 1070 to wirelessly transmit signal 1072 to one or more controllers 1020 to individually close or prevent liquid 2220 (in the form of mist or fog) from flowing through each individual nozzle assembly 2230.

[0087] In various exemplary embodiments, the method of using vehicle 2000 as described herein may further include the following steps: updating map data in real time during use of vehicle 2000 and redefining spray area 3000 as non-spray area 4000 when spray area 3000 is sprayed by vehicle 2000 with liquid 2220 (in the form of mist or fog). In various exemplary embodiments, the method of using vehicle 2000 as described herein may further include the following steps: viewing a map of the area where vehicle 2000 is located and a digital image of one or more boundaries 3500 between one or more sprayed areas 3000 and one or more non-sprayed areas 4000 within the map area on a display (also referred to as a screen) 1071 on mobile device 1070, and also dynamically depicting in real time those portions of the map area that have been sprayed by spraying system 2200 with liquid 2220 (in the form of mist or fog) and those portions of the map area that have not been sprayed by spraying system 2200 with liquid 2220 (in the form of mist or fog), for example, as discussed and illustrated on pages 000088 to 000099 of the incorporated '139 application.

[0088] Any suitable techniques, materials, and designs set forth and incorporated herein may be used to implement various exemplary aspects of the invention, as will be apparent to those skilled in the art. Exemplary embodiments of the invention may be implemented optionally in conjunction with one or more aspects of the Intelligent Control Apparatus, System, and Method of Use (“'718 Patent”) discussed in US 9851718 B2, issued December 26, 2017, to Steven R. Booher, the entire contents of which are incorporated herein by reference. As an example and not a limitation, the input of boundary data by guiding a GPS-equipped vehicle around a desired boundary, as described in the '718 Patent, and the description of exemplary electronic hardware in the '718 Patent, may be applied to this disclosure. Furthermore, features described in the incorporated '457 application may be incorporated into the vehicle 2000 described herein, and corresponding components described in the '457 application may be provided as part of kit 1000.

[0089] Although exemplary embodiments and applications of the invention have been described herein, including those shown above and in the included exemplary figures, the invention is not intended to be limited to these exemplary embodiments and applications or to the operation of these exemplary embodiments and applications or in the manner described herein. In fact, many variations and modifications to the exemplary embodiments are possible and will be apparent to those skilled in the art. The invention may include any device, structure, method, or function, provided that the resulting device, system, or method falls within the scope of any of the claims permitted by the Patent Office based on this patent application or any related patent application.

Claims

1. A kit configured to be added to a vehicle having a power-assisted and air-assisted agricultural spraying system, the air-assisted agricultural spraying system including a tank for containing a liquid to be sprayed and a plurality of spaced-apart nozzle assemblies in liquid communication with the tank, the kit comprising: Multiple pulse width modulation solenoids are configured to be installed in and in fluid communication with the tank and the nozzle assembly, and when the multiple pulse width modulation solenoids are installed in these ports, selectively open and close the nozzle assembly and change the flow rate of the liquid through the nozzle assembly; One or more controllers are configured to be in electrical communication with the plurality of pulse width modulation solenoids and to electrically actuate the solenoids when the plurality of pulse width modulation solenoids are installed in the ports to selectively open and close the nozzle assemblies and change the flow rate of liquid through the nozzle assemblies. A first wiring harness, configured to be attached to the vehicle and electrically connected to the one or more controllers and the plurality of pulse width modulation solenoids; A second wiring harness is configured to be attached to the vehicle and electrically connect the one or more controllers to the power source. GPS antenna system; A third wiring harness is configured to be attached to the vehicle and electrically connect the GPS antenna system to the power source. LiDAR sensing system; A fourth wiring harness is configured to be attached to the vehicle and electrically connect the lidar sensing system to the power source; as well as A mobile device configured to wirelessly communicate with the GPS antenna system and the one or more controllers, and to data communicate with the lidar sensing system, and further configured to: Receive one or more inputs from the user that define the spraying criteria that the user can select; Receive geographic location and speed information from the GPS antenna system; Given one or more information databases for processing the geographic location and speed information, the one or more information databases include: Define map data for sprayed and non-sprayed areas. Plant data corresponding to one or more of the following: location, height, width, shape, and density of the plants located within these spraying areas. Vehicle data defining the position of each of these nozzle assemblies relative to the GPS antenna system and the lidar sensing system when installed on the vehicle; and Based on this, on, off, and pulse width modulation signals are wirelessly transmitted to one or more controllers to individually open and close the flow of liquid through each of these individual nozzle assemblies, depending on whether each nozzle assembly is in a spraying area or a non-spraying area. The user-selectable spraying criteria include one or more adjustments to the flow rate of the liquid through each of the nozzle assemblies based on at least one of the user-selectable criteria, speed information, and plant data corresponding to a portion of the plant near each nozzle assembly.

2. The kit as claimed in claim 1, wherein, The lidar sensing system includes a WiFi router configured to communicate wirelessly with the mobile device.

3. The kit as claimed in claim 1, wherein, The lidar sensing system includes a fan configured to blow debris away from at least the sensing portion of the lidar sensing system.

4. The kit as claimed in claim 1, wherein, The user-selectable spraying criteria include a vertical boundary in which the controller is configured to shut off liquid flow through nozzle assemblies that, when mounted on the vehicle, are oriented to direct the spray beyond the vertical boundary.

5. The kit as claimed in claim 1, wherein, The vertical boundary can be selected as a function of plant data corresponding to plant height.

6. The kit as claimed in claim 1, wherein, The user-selectable spraying criteria include one or more adjustments to the flow rate of the liquid through these nozzle assemblies based on changes in the plant data over time for a given plant.

7. The kit as claimed in claim 1, wherein, The first and second wire harnesses are part of a single wire harness.

8. The kit as claimed in claim 1, wherein, The second and third wire harnesses are part of a single wire harness.

9. The kit as claimed in claim 1, wherein, The third and fourth wire harnesses are part of a single wire harness.

10. The kit as claimed in claim 1, wherein, The first wire, the second wire bundle, and the third wire bundle are part of a single wire bundle.

11. A method of installing the kit as claimed in claim 1 on the vehicle as claimed in claim 1, comprising the following steps: Provide the vehicle as described in claim 1; Provide the kit as described in claim 1; Install the multiple pulse width modulation solenoids in these ports; The first bracket is used to attach the one or more controllers to the vehicle; The first wiring harness is used to connect the one or more controllers to the plurality of pulse width modulation solenoids; Attach the first wiring harness to the vehicle; The second wiring harness is used to connect one or more controllers to the power supply. Attach the second wiring harness to the vehicle; The GPS antenna system is attached to the vehicle using a second bracket. Connect the GPS antenna system to the power source using the third wiring harness; Attach the third wiring harness to the vehicle; The lidar sensing system is attached to the vehicle using a third bracket. The fourth wire beam is used to connect the lidar sensing system to the power supply. as well as Attach the fourth wiring harness to the vehicle.

12. The method of claim 11, further comprising the following steps: Input map data into one or more databases, which define sprayed and non-sprayed areas.

13. The method of claim 12, wherein, The steps of inputting map data defining sprayed and non-sprayed areas into one or more databases include the following: The vehicle is driven along one or more edges of one or more sprayed or non-sprayed areas and the travel path data transmitted from the GPS antenna system to the mobile device is recorded.

14. The method of claim 12, wherein, The steps of inputting map data defining sprayed and non-sprayed areas into one or more databases include the following: Guide vehicles other than those described in claim 1 and equipped with a second GPS antenna system along one or more edges of one or more sprayed or non-sprayed areas and record travel path data transmitted from the second GPS antenna system to the mobile device.

15. The method of claim 12, wherein, The steps of inputting map data defining sprayed and non-sprayed areas into one or more databases include the following: Depict one or more edges of sprayed or unsprayed areas on a GUI overlay map of a digital image of a map.

16. The method of claim 12, wherein, The steps of inputting map data defining sprayed and non-sprayed areas into one or more databases include the following: At least a portion of the map data is downloaded to the mobile device.

17. The method of claim 12, further comprising the following steps: Input the user-selectable spraying standards into the mobile device; and The plant data is input into one or more databases, which correspond to one or more of the location, height, width, shape, and density of plants located in these spraying areas.

18. The method of claim 17, wherein, The step of inputting the plant data corresponding to one or more of the following factors—location, height, width, shape, and density—of the plants located within these spraying areas into the one or more databases includes the following steps: The vehicle drives the plants close to one of these spraying areas and records the travel path data transmitted from the GPS antenna system to the mobile device, while also recording the plant data transmitted from the lidar sensing system to the mobile device.

19. The method of claim 17, wherein, The step of inputting the plant data corresponding to one or more of the following factors—location, height, width, shape, and density—of the plants located within these spraying areas into the one or more databases includes the following steps: The vehicle, in addition to the vehicle described in claim 1, is equipped with a second GPS antenna system and a second lidar sensing system. The vehicle is located near one of these spraying areas. The vehicle guides the plant and records the travel path data transmitted from the second GPS antenna system to the mobile device, as well as the plant data transmitted from the second lidar sensing system to the mobile device.

20. The method of claim 17, wherein, The step of inputting the plant data corresponding to one or more of the following factors—location, height, width, shape, and density—of the plants located within these spraying areas into the one or more databases includes the following steps: The plant data within the spraying area is depicted on a GUI overlay map of the digital image of the map.

21. The method of claim 17, wherein, The step of inputting the plant data corresponding to one or more of the following factors—location, height, width, shape, and density—of the plants located within these spraying areas into the one or more databases includes the following steps: At least a portion of the plant data is downloaded to the mobile device.

22. The method of claim 17, wherein, The steps for inputting user-selectable spraying criteria into the mobile device include the following: A vertical boundary is selected such that the controller is configured to shut off liquid flow through nozzle assemblies that are oriented to direct the spray beyond the vertical boundary.

23. The method of claim 22, wherein, The vertical boundary was chosen as a function of the plant data corresponding to the plant height.

24. The method of claim 17, wherein, The steps for inputting user-selectable spraying criteria into the mobile device include the following: The flow rate of the liquid through these nozzle assemblies is adjusted once or multiple times based on plant data corresponding to plant density.

25. The method of claim 17, wherein, The steps for inputting user-selectable spraying criteria into the mobile device include the following: The flow rate of the liquid through these nozzle assemblies is selected to be adjusted once or multiple times based on the changes in the plant data of the given plant over time.

26. A vehicle with a power supply and air-assisted agricultural spraying system, the vehicle comprising: A canister, used to hold the liquid to be sprayed; Multiple spaced-apart nozzle assemblies are in liquid communication with the tank. Each nozzle assembly includes a pulse width modulation solenoid configured to selectively open and close the nozzle assembly and change the flow rate of the liquid through the nozzle assembly. One or more controllers are electrically connected to the plurality of pulse width modulation solenoids and are configured to electrically actuate the solenoids to selectively open and close the nozzle assemblies and change the flow rate of liquid through the nozzle assemblies; A first wiring harness is attached to the vehicle and electrically connects the one or more controllers to the plurality of pulse width modulation solenoids; A second wiring harness is attached to the vehicle and electrically connects the one or more controllers to the power source. GPS antenna system; A third wiring harness is attached to the vehicle and electrically connects the GPS antenna system to the power source. LiDAR sensing system; The fourth wiring harness is attached to the vehicle and electrically connects the lidar sensing system to the power source. as well as A mobile device configured to wirelessly communicate with the GPS antenna system and the one or more controllers, and to data communicate with the lidar sensing system, and further configured to: Receive one or more inputs from the user that define the spraying criteria that the user can select; Receive geographic location and speed information from the GPS antenna system; Given one or more information databases for processing the geographic location and speed information, the one or more information databases include: Define map data for sprayed and non-sprayed areas; Plant data corresponding to one or more of the following: location, height, width, shape, and density of the plants located within these spraying areas; Vehicle data defining the position of each of these nozzle assemblies relative to the GPS antenna system and the lidar sensing system when installed on the vehicle; and Based on this, on / off and pulse width modulation signals are wirelessly transmitted to one or more controllers to individually open and close the flow of liquid through each of these individual nozzle assemblies, depending on whether each nozzle assembly is in a spraying area or a non-spraying area; and The user can open or close each of these nozzle assemblies or change the flow rate of liquid through each of these nozzle assemblies based on at least one of the user-selectable criteria, speed information, and plant data corresponding to a portion of the plant near each nozzle assembly. User-selectable spraying standards include one or more adjustments to the flow rate of the liquid through these nozzle assemblies based on plant data corresponding to plant density.

27. The vehicle as claimed in claim 26, wherein, The mobile device is configured to update the plant data in real time during the use of the vehicle, updating one or more of the location, height, width, shape, and density of the plants located in these spraying areas as the vehicle sprays these areas.

28. The vehicle of claim 26, further comprising a bracket that attaches the mobile device to the vehicle near the driver's position on the vehicle; and a fifth wiring harness that is attached to the vehicle and electrically connects the mobile device to the power source.

29. The vehicle as claimed in claim 26, wherein, The lidar sensing system includes a WiFi router configured to communicate wirelessly with the mobile device.

30. The vehicle as claimed in claim 26, wherein, The lidar sensing system includes a fan configured to blow debris away from at least the sensing portion of the lidar sensing system.

31. A kit configured to be added to a vehicle having a power- and air-assisted agricultural spraying system, the air-assisted agricultural spraying system including a tank for containing liquid to be sprayed and a plurality of spaced-apart nozzle assemblies in liquid communication with the tank, the kit comprising: Multiple pulse width modulation solenoids are configured to be installed in fluid communication with the nozzle assemblies, and when the multiple pulse width modulation solenoids are installed in fluid communication with the nozzle assemblies, selectively open and close the nozzle assemblies and change the flow rate of liquid through the nozzle assemblies. One or more controllers are configured to be in electrical communication with the plurality of pulse width modulation solenoids and to electrically actuate the solenoids when the plurality of pulse width modulation solenoids are installed in the ports to selectively open and close the nozzle assemblies and change the flow rate of liquid through the nozzle assemblies. A first wiring harness, configured to be attached to the vehicle and electrically connected to the one or more controllers and the plurality of pulse width modulation solenoids; A second wiring harness is configured to be attached to the vehicle and electrically connect the one or more controllers to the power source. GPS antenna system; A third wiring harness is configured to be attached to the vehicle and electrically connect the GPS antenna system to the power source. LiDAR sensing system; A fourth wiring harness is configured to be attached to the vehicle and electrically connect the lidar sensing system to the power source; as well as A mobile device configured to wirelessly communicate with the GPS antenna system and the one or more controllers, and to data communicate with the LiDAR sensing system, and further configured to: Receive one or more inputs from the user that define the spraying criteria that the user can select; Receive geographic location and speed information from the GPS antenna system; Given one or more information databases for processing the geographic location and speed information, the one or more information databases include: Define map data for sprayed and non-sprayed areas; Plant data corresponding to one or more of the following: location, height, width, shape, and density of the plants located within these spraying areas; Vehicle data defining the position of each of these nozzle assemblies relative to the GPS antenna system and the lidar sensing system when installed on the vehicle; and Based on this, on / off and pulse width modulation signals are wirelessly transmitted to one or more controllers to individually open and close the flow of liquid through each of these individual nozzle assemblies, depending on whether each nozzle assembly is in a spraying area or a non-spraying area; and The user can open or close each of these nozzle assemblies or change the flow rate of liquid through each of these nozzle assemblies based on at least one of the user-selectable criteria, speed information, and plant data corresponding to a portion of the plant near each nozzle assembly. User-selectable spraying standards include one or more adjustments to the flow rate of the liquid through these nozzle assemblies based on plant data corresponding to plant density.

32. A method of installing the kit of claim 31 on the vehicle of claim 31, comprising the following steps: Provide the vehicle as described in claim 31; Provide the kit as described in claim 31; The multiple pulse width modulation solenoids are installed in fluid communication with these nozzle assemblies; The first bracket is used to attach the one or more controllers to the vehicle; The first wiring harness is used to connect the one or more controllers to the plurality of pulse width modulation solenoids; Attach the first wiring harness to the vehicle; The second wiring harness is used to connect one or more controllers to the power supply. Attach the second wiring harness to the vehicle; The GPS antenna system is attached to the vehicle using a second bracket. Connect the GPS antenna system to the power source using the third wiring harness; Attach the third wiring harness to the vehicle; The lidar sensing system is attached to the vehicle using a third bracket. The fourth wire beam is used to connect the lidar sensing system to the power supply. Attach the fourth wiring harness to the vehicle; The vehicle data is input into one or more databases, which define the position of each of these nozzle assemblies relative to the GPS antenna system and the lidar sensing system when installed on the vehicle.

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