Ground surface treatment input delivery

Abstract

A device can include a tank and a delivery array coupled with the tank to receive treatment input therefrom. A controller is coupled to an imaging device and nozzle assemblies positioned in a delivery array. Upon the controller identifying a select object within a captured image, the controller operates to open a valve associated with a nozzle assembly to direct the treatment input at the select object.

Description

Patent ApplicationAtty Ref.: 48226.10000US01GROUND SURFACE TREATMENT INPUT DEEIVERYBACKGROUND

[0001] Weed management on ground surfaces, such as lawns and agricultural fields, is a longstanding challenge. There are several current approaches for controlling weed growth, including chemical treatments involving the use of herbicides. While herbicides can be effective, herbicides raise several concerns including extra human labor, ground contamination and further ecological damage. Additionally, common herbicides contain toxic compounds that pose risks to human health, particularly when applied in residential or public spaces such as homes, parks and playgrounds. Over time, many weed species have developed resistance to commonly used herbicides, rendering chemical treatments less effective. This resistance necessitates higher concentrations of chemicals or the use of alternative, often more harmful, substances. Given these challenges, there is a need for improved methods or systems for weed removal that mitigate environmental, health, and efficiency drawbacks of current approaches.SUMMARY

[0002] In some aspects, concepts described herein relate to a device for delivering a treatment input as the device moves in a direction of travel along a ground surface. The device includes a tank containing the treatment input and a delivery array coupled with the tank to receive treatment input therefrom. The delivery array includes a plurality of nozzle assemblies, each nozzle assembly including a valve and an orifice directed toward the ground surface. An imaging device is configured to capture images of the ground surface and a controller is coupled to the imaging device and each nozzle assembly. Upon the controller identifying a weed within a captured image, the controller operates to open at least one selected valve associated with one of the plurality of nozzle assemblies to direct treatment input at the weed.BRIEF DESCRIPTION OF THE DRAWINGS

[0003] FIG. l is a schematic diagram of a device for delivering fluid to a ground surface.

[0004] FIG. 2 is a schematic diagram of a nozzle assembly delivering fluid to a ground surface.

[0005] FIG. 3 is a flow diagram of a method for delivering fluid to a ground surface.Patent ApplicationAtty Ref.: 48226.10000US01DESCRIPTION

[0006] FIG. 1 is a schematic diagram of a device 100 for identifying and eradicating undesired plants such as weeds (e.g., weed W), pests and other objects on a ground surface G. Device 100 moves along ground surface G in a direction of travel T either being self-driven or connected to a machine such as a motor vehicle, wheeled work machine, tractor or lawn mower. Device 100 includes a frame 102 supporting a power source 104, one or more tanks 106, heating element 108, controller 110 and one or more imaging devices 112. Frame 102 further supports a delivery array 120 above ground surface G.

[0007] In one embodiment, frame 102 includes a platform or similar structure and is supported by a plurality of wheels 114. When supported by a plurality of wheels 114, device 100 can be coupled with a driven machine such as a lawn mower through a tow bar or other connection mechanism to move device 100 along ground surface G. Alternatively, device 100 can include one or more motors 116 operatively coupled to one or more of the plurality of wheels 114 to drive at least one of the plurality of wheels 114 to move device 100 along the direction of travel T. In further embodiments, one or more of the plurality of wheels 114 can pivot relative to frame 102 to steer device 100 in different directions along ground surface G.

[0008] In yet further embodiments, the plurality of wheels 114 can be eliminated and frame 102 can be directly coupled (e.g., mounted through a connection) to a machine such as a lawn mower or tractor and travel along with the machine. For example, frame 102 can further include a boom extending transverse to direction of travel T. The boom can be mounted to a machine through a rigid connection or through a spring-loaded connection (e.g., acting as a shock absorber) that allows relative movement between frame 102 and the machine as device 100 travels along ground surface G. Additionally, an actuator can be connected to frame 102 to raise and lower frame 102 (or elements coupled thereto) relative to the ground surface G.

[0009] Power source 104 can be a battery, generator, power-take-off or other source supported directly on frame 102 that provides power to heating element 108, controller 110 and imaging device 112. In other embodiments, power source 104 can be remote from frame 102 (e.g., from a machine such as a lawn mower coupled to device 100) and electrically connected to heating element 108, controller 110 and one or more imaging devices 112.Patent ApplicationAtty Ref.: 48226.10000US01

[0010] Heating element 108 is configured to heat fluid (e.g., water) stored within tank 106 to generate heated fluid and transfer heated fluid to delivery array 120. Delivery array 120 includes a transversely extending conduit 122 oriented orthogonal to the direction of travel T and a plurality of nozzle assemblies 124 fluidly coupled with the conduit 122. Each of the plurality of nozzle assemblies 124 includes a valve and an opening configured to selectively direct heated fluid (e.g., heated water, steam) to ground surface G. A conduit 126 transfers fluid from tank 106 to delivery array 120.

[0011] In one embodiment, the heating element 108 includes one or more inline heating devices configured to maintain or elevate fluid temperature during transfer. For example, the inline heating device can comprise a Watlow FLC-40 FLUENT In-Line Heater or a similar component capable of delivering precise thermal control to ensure the fluid reaches the desired temperature prior to discharge through the nozzle assemblies. In another embodiment, the heating element 108 can be directly integrated into tank 106 to heat fluid within tank 106. In yet a further embodiment, the heating element 108 can comprise a heating device integrated into the tank and combined with one or more inline heating devices along conduit 126 that deliver steam to delivery array 120. In addition, further heating devices can be positioned along conduit 122.

[0012] Controller 110, in one embodiment, is configured to control operation of heating element 108, imaging device 1 12, motor 116 (if provided) and delivery array 120. Specifically, controller 110 can provide signals to operate heating element 108 to generate heated fluid from fluid within tank 106. Additionally, controller 110 can control operation of imaging device 112, including receiving and analyzing images from imaging device 112. In addition, based on the images received from imaging device 112, controller 110 can selectively operate valves of each of the plurality of nozzle assemblies 124 within delivery array 120 to direct heated fluid to a specified location such as a weed to eradicate the weed. Controller 110 can further be connected to a remote device through wireless communication for remote reporting and / or control. The remote device can monitor and / or control device 100 as desired.

[0013] Imaging device 112 (e.g., one or more cameras, thermal imaging devices, hyperspectral imager, LiDar device) can include one or more sensors to detect electromagnetic radiation, including infrared and / or visible light, continuously (e.g., producing a live stream of video).Patent ApplicationAtty Ref.: 48226.10000US01Imaging device 112 can detect one or more images using the one or more sensors and transmit the images to controller 110 to be analyzed. Imaging device 112 can be mounted directly to frame 102, delivery array 120 or other locations as desired to obtain images of ground surface G. In one example, a front imaging device (i.e., in a location on the front of device 100 based on the direction of travel T) and a back imaging device (i.e., in a location on the back of device 100 based on the direction of travel T) obtain images of ground surface G. These images can be stitched together to develop one or more composite images that can be analyzed by controller 110.

[0014] In one embodiment, controller 110 maintains or has access to memory (e.g., a database) that includes images of multiple varieties of weeds to be eradicated. Images of ground surface G are captured by imaging device 112, sent to controller 110 and compared to the images in memory of weeds. In one embodiment, machine learning and / or artificial intelligence is used to train a model used by controller 110. Controller 110 can use the model to detect whether an image contains weeds and / or other objects. In addition, the model can process multiple types of images to assist in determining whether images contain a specified object. For example, the model can analyze an image (or images) in both the visible spectrum and the infrared spectrum to determine different characteristics of an object to operate device 100. As an example, objects can have different characteristics in the infrared spectrum (i.e., if a weed is alive) than in the visible spectrum (i.e., if the weed is dead). Operation of device 100 can be implemented accordingly (e.g., heated fluid would not be delivered to a location if a weed is determined to be dead). In still further embodiments, operation of device 100 can be immediately stopped if an emergency is detected, such as device 100 approaching a pet, child or other object.

[0015] If controller 110 determines that a captured image includes a weed based on the comparison, controller 110 can identify a location for the weed relative to delivery array 120. In one example, as device 100 travels over ground surface G, imaging device 112 can captures images of ground surface G that includes weed W. Controller 110 compares a captured image of weed W to images within memory and determines that the captured image contains a weed. Further, controller 110 determines a location of the identified weed relative to delivery array 120. For example, controller 110 can determine the location of weed W is associated with nozzle assembly 124-A. As nozzle assembly 124-A travels over weed W, controller 110 can operate to open the valve associated with nozzle assembly 124-A so that heated fluid from nozzle assembly 124-A isPatent ApplicationAtty Ref.: 48226.10000US01 delivered to weed W. Other nozzle assemblies 124 within delivery array 120 are operated by controller 110, either simultaneously or at different times to deliver heated fluid to detected weeds.

[0016] In one embodiment, controller 110 implements a convolutional neural network (CNN) model, such as a YOLOvlO architecture, trained on a dataset comprising over 10,000 labeled images of common lawn weeds (e.g., dandelions, crabgrass, clover) and non-weed objects (e.g., grass, debris, pets, children). Training data can include multi-spectral images captured in visible and / or infrared spectra under varying conditions (e.g., daylight, shade, wet / dry surfaces) to achieve a desired detection accuracy. In one embodiment, accuracy of detection is at least 85-90% in realtime at speeds exceeding 10 miles per hour. The model processes images by applying preprocessing steps such as normalization and augmentation, followed by feature extraction to classify objects as live weeds or non-targets. For error handling, the model can incorporate a confidence threshold (e.g., greater than 0.7) to minimize false positives. Further, emergency detection logic can be integrated that halts operation of device 100 if non-weed objects are identified within a select distance (e.g., less than five feet) of the delivery array 120.

[0017] Delivery array 120 can take various forms to deliver a treatment input to ground surface G. The treatment input can be steam, a liquid or granule as discussed herein. Embodiments discussed herein may be addressed as steam or heated fluid, which can be interchanged with a liquid or granule except where explicitly noted. In one embodiment, delivery array 120 includes a single row of spaced apart nozzle assemblies (i.e., each nozzle assembly forming a column) extending transverse to the direction of travel T. When attached to a lawn mower, a width of the delivery array 120 (orthogonal to direction of travel T) can be equal to or substantially the same width of a cutting deck of the lawn mower (e.g., 34”, 42”, 48”, 60”, 72”). In other embodiments, delivery array 120 can include multiple rows of spaced apart nozzle assemblies (e.g., two, three, four rows or more), wherein each row extends orthogonal to direction of travel T and columns extend along direction of travel T. When multiple rows are used, the plurality of nozzle assemblies can be off set for a particular row in a direction orthogonal to the direction of travel T.

[0018] A plurality of nozzle assemblies 124 in delivery array 120 can be selected to deliver treatment input (i.e., water vapor) to ground surface G. In one embodiment, a single nozzle assembly is provided. In other embodiments, the number of nozzle assemblies includes at least 5,Patent ApplicationAtty Ref.: 48226.10000US01 at least 10, at least 20, at least 40, at least 60 or more than 60 nozzle assemblies. A number of nozzle assemblies can be selected at least in part by a width of the delivery array 120 and a coverage area for each nozzle assembly (i.e., an extent to which fluid delivered from the nozzle assembly is able to contact the ground surface). Spacing of adjacent nozzle assemblies can further be based on coverage area for each nozzle assembly. A temperature of the heated fluid delivered can be selected to provide a desired effect on the ground surface G. For example, the temperature of the heated fluid may be 160° Fahrenheit, greater than 160° F, greater than 180° F, greater than 200° F, greater than 212° F, greater than 215° F, greater than 220° F, greater than 230° F and other temperatures.

[0019] Delivery array 120 can be mounted on either the front or the rear of the device as viewed from the direction of travel T. Further, one or more nozzles in delivery array 120 can extend outside a width of frame 102. Regardless of the mounting position, device 100 can be calibrated such that a weed detection position identified by the imaging device 112 corresponds to a specific nozzle assembly or multiple nozzle assemblies within the delivery array 120. This calibration ensures accurate targeting of heated fluid to the detected weed while the delivery array 120 passes over the detected weed. Accordingly, as device 100 travels along ground surface G in direction of travel T, controller 110 detects presence of a weed based on image data from imaging device 112 and determines a time and duration for which to activate one or more of the nozzle assemblies 124 within delivery array 120 based on travel of device 100 across the ground surface G. In one embodiment, the time and duration is calculated based on at least one of a speed of device 100 and a size of a detected weed.

[0020] In one embodiment, device 100 is formed of modular components whereby device 100 can be configured to deliver heated fluid in the form of steam to weeds and be configured to deliver other fluids as selected to achieve a desired solution that promotes grass growth and / or controls weeds as desired. In such an arrangement, tank 108 can be switched with a new tank with a different fluid such as chelated iron that is configured to be delivered through delivery array 120 as determined by controller 110. Further still, tank 108 can contain granulated particles that are precisely delivered through delivery array 120 as determined by controller 110. In further embodiments, multiple tanks 108 can be utilized, each tank holding a different substance. In such an embodiment, a selector valve can be utilized to selectively couple delivery array 120 to aPatent ApplicationAtty Ref.: 48226.10000US01 selected tank. Regardless of the treatment selection, controller 1 10, imaging device 112 and delivery array 120 can be configured to operate independent of a desired input (e.g., steam, applied liquid, pellets) based on a relationship of controller 110, imaging device 112 and delivery array 120. Accordingly, positional relationship of these elements allows flexibility in delivering a desired treatment.

[0021] FIG. 2 is a schematic view of an exemplary nozzle assembly 124 fluidly connected with conduit 122. Nozzle assembly 124 includes a nozzle body 130 (e.g., cylindrically shaped) extending from conduit 122 and terminating at an orifice 132. Orifice 132 can be of varying sizes depending upon several different factors, including speed of travel for device 100, distance from orifice 132 to a candidate weed, size of candidate weeds to be eradicated and others. In one embodiment, delivery array 120 (through frame 102) locates orifice 132 a selected distance from the ground surface G to effectively deliver heated fluid to eradicate weed W. In one embodiment, the selected distance is approximately 2-3 inches, but can be variably adjusted to any distance (e.g., from less than 1 inch to 24 inches or more), for example using actuators or other another mechanism. In some embodiments, nozzle assemblies 124 within delivery array 120 can include orifices of different size (e.g., some larger and some smaller). For example, one set of nozzle assemblies in delivery array 120 can include a wide orifice, whereas another set of nozzle assemblies in delivery array 120 can include a narrow orifice. Positioned between conduit 122 and orifice 132 is a valve 134, which is connected to controller 110 (e.g., through a wired or wireless connection). In one embodiment, valve 134 is a solenoid valve designed to withstand temperatures of up to 370 degrees Fahrenheit and pressures up to 150 pounds per square inch.

[0022] As nozzle assembly 124 travels over weed W, controller 110, having analyzed images obtained from imaging device 112, operates to open valve 134 to allow heated fluid to exit orifice 132 at a time that orifice 132 is above weed W. In one embodiment, a duration that valve 134 is open is based upon a size of weed W, as calculated by controller 110 when analyzing images from imaging device 112. In other embodiments, a duration that valve 134 is open is a selected time value dependent upon one or more of a size of weed W and a speed of travel for device 100. For example, when device 100 is attached to a lawn mower, a speed at which device 100 travels can be greater than one mile per hour, greater than five miles per hour, greater than seven miles per hour, greater than ten miles per hour and higher (e.g., thirteen to fifteen miles per hour and greater).Patent ApplicationAtty Ref.: 48226.10000US01Depending upon one or more different factors (e.g., an average weed size, speed of device, temperature of heated fluid being delivered, density of weeds, a duration that valve 134 is open can be selected to prevent excess damage to ground surface G. If average weed size is six inches and device 100 is traveling at thirteen miles per hour, a duration that valve 134 is open would be on the order of approximately 2 to 3 hundredths of a second. In other embodiments, the duration is less than 1 second, less than 0.5 second, less than 0.25 second, and less than 0.1 second.

[0023] With further reference to FIG. 3, a flow diagram of a method 200 for eradicating weeds while device 100 travels over and captures images of ground surface G is provided. At step 202, imaging device 112 (which could include multiple sensors or multiple imaging devices) captures images of ground surface G. Images are analyzed by controller 110 at step 204. At step 206, a determination is made as to whether a weed is detected within the images. If no weed is detected, method 200 returns to step 202 and further images are captured. If a weed is detected, method 200 proceeds to step 208, where a location of the weed is identified. The identified position is associated with one or more of the plurality of nozzle assemblies 124 within delivery array 120. Based on the identified position, heated fluid is delivered at step 210. After delivery, method 200 returns to step 202, where further images of ground surface G are captured.

[0024] When using device 100 in connection with a conventional lawn mower, one challenge associated with detecting weeds is that both grass and weeds are similar in color (i.e., green). This challenge leads to difficulty in avoiding false positives as device 100 traverses a lawn, where other object detection can rely heavily on color differentiation. To address the challenge of detecting weeds against a green-on-green background, device 100 can employ a supervised learning approach using annotated image data. In this approach, each training image includes a boundary drawn around a weed within a grass background, enabling precise object localization within the training image.

[0025] In one embodiment, the annotated dataset can encompass more than 100 different weed species (approximately 160 species of weeds in a further embodiment). Further, the annotated data set can include images collected under diverse environmental conditions — such as sunny and cloudy weather, with or without shadows present — and across various growth stages and sizes of weeds. The annotated dataset can then be used to train an object detection model (e.g., a YOLOPatent ApplicationAtty Ref.: 48226.10000US01(You Only Look Once) model). Tn one embodiment, the model frames object detection as a single- stage regression problem for high-speed performance. In this embodiment, the model processes an entire image in a single convolutional neural network pass, dividing the image into a grid where each cell predicts multiple bounding boxes and class probabilities simultaneously. The training process produces a set of model weights that define the learned parameters for weed detection. These weights can be stored locally on the device TOO for offline operation or accessed dynamically through an application programming interface (API) call (e.g., through a network to a server computer), allowing flexible deployment and updates. This architecture ensures efficient detection in complex backgrounds while maintaining accuracy and adaptability for real-world field conditions.

[0026] Various embodiments of the invention have been described above for purposes of illustrating the details thereof and to enable one of ordinary skill in the art to make and use the invention. The details and features of the disclosed embodiment^] are not intended to be limiting, as many variations and modifications will be readily apparent to those of skill in the art. Accordingly, the scope of the present disclosure is intended to be interpreted broadly and to include all variations and modifications coming within the scope and spirit of the appended claims and their legal equivalents.

Claims

Patent ApplicationAtty Ref.: 48226.10000US01CLAIMS1. A device for delivering fluid as the device moves in a direction of travel along a ground surface, comprising: a tank containing a treatment input; a delivery array coupled to receive the treatment input from the tank, the delivery array including a plurality of nozzle assemblies, each nozzle assembly including a valve and an orifice directed toward the ground surface; an imaging device configured to capture images of the ground surface; and a controller coupled to the imaging device and each nozzle assembly, wherein upon the controller identifying a select object within a captured image, the controller operates to open at least one selected valve associated with one of the plurality of nozzle assemblies to direct the treatment input from the tank at the select object.

2. The device of claim 1, wherein the delivery array further comprises a conduit extending transverse to the direction of travel, wherein each of the plurality of nozzle assemblies is coupled to the conduit.

3. The device of claim 2, further comprising a frame supporting the tank and delivery array above the ground surface.

4. The device of claim 3, wherein the frame is coupled to a machine that supports the delivery array above the ground surface.

5. The device of claim 3, wherein the frame is supported by a plurality of wheels positioned on the ground surface.

6. The device of claim 1, further comprising a heating element fluidly coupled to the tank and configured to generate heated fluid to be delivered as steam to the select object.

7. The device of claim 1 , wherein the plurality of nozzle assemblies extend in a row extending transverse to the direction of travel.Patent ApplicationAtty Ref.: 48226.10000US018. The device of claim 7, wherein the plurality of nozzle assemblies are positioned in multiple rows, each row extending transverse to the direction of travel.

9. The device of claim 1, wherein the controller is configured to open the valve for a time duration based on a speed of travel for the device.

10. The device of claim 9, wherein the time duration is less than 0.1 second.

11. The device of claim 9, wherein the time duration is greater than 1 second.

12. The device of claim 9, wherein the speed of travel is greater than ten miles per hour.

13. A method for eradicating weeds on a ground surface while moving a device in a direction of travel, comprising: capturing images of the ground surface using at least one imaging device; analyzing the captured images with a controller to identify a weed within the captured images; and operating at least one valve of a nozzle assembly to deliver a treatment input to the identified weed based on analyzing the captured images.

14. The method of claim 13, wherein analyzing the captured images comprises determining a size of the identified weed and adjusting an amount of fluid delivered based on the determined size.

15. The method of claim 13, wherein the controller determines a position of the identified weed relative to a delivery array and selects a corresponding nozzle assembly for delivery of the treatment input.

16. The method of claim 13, wherein the controller calculates a selected time for operating the valve based on a speed of travel of the device and a position of the identified weed relative to the nozzle assembly.Patent ApplicationAty Ref. : 48226. 10000US0117. The method of claim 16, wherein the valve is opened for a selected duration based on a speed of travel of the device.

18. The method of claim 13, wherein the imaging device captures images in both visible and infrared spectra.

19. The method of claim 13, wherein the controller uses a trained model configured to identify one or more weeds in the captured images.

20. The method of claim 19, wherein the trained model comprises an architecture configured to divide each image into a grid.

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